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Center of mass velocity-based predictions in balance recovery following pelvis perturbations during human walking
ABSTRACT In many simple walking models, foot placement dictates the center of pressure location and ground reaction force components, whereas humans can modulate these aspects after foot contact.Expand
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Direct measurement of the intrinsic ankle stiffness during standing.
Ankle stiffness contributes to standing balance, counteracting the destabilizing effect of gravity. The ankle stiffness together with the compliance between the foot and the support surface make upExpand
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Lower extremity joint-level responses to pelvis perturbation during human walking
The human leg joints play a major role in balance control during walking. They facilitate leg swing, and modulate the ground (re)action forces to prevent a fall. The aim of this study is to provideExpand
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Rapid limb‐specific modulation of vestibular contributions to ankle muscle activity during locomotion
The vestibular influence on human walking is phase‐dependent and modulated across both limbs with changes in locomotor velocity and cadence. Using a split‐belt treadmill, we show that vestibularExpand
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Reduced center of pressure modulation elicits foot placement adjustments, but no additional trunk motion during anteroposterior-perturbed walking.
Understanding balance during human gait is complicated by the abundance of recovery options. Among all possible recovery options, three main strategies are often considered for human balance control,Expand
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Template model inspired leg force feedback based control can assist human walking
We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller onExpand
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Paretic versus non-paretic stepping responses following pelvis perturbations in walking chronic-stage stroke survivors
BackgroundThe effects of a stroke, such as hemiparesis, can severely hamper the ability to walk and to maintain balance during gait. Providing support to stroke survivors through a roboticExpand
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Assisting Human Balance in Standing With a Robotic Exoskeleton
This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulseExpand
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Foot Placement Modulation Diminishes for Perturbations Near Foot Contact
Whenever a perturbation occurs during walking we have to maintain our balance using the recovery strategies that are available to us. Foot placement adjustment is often considered an importantExpand
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Towards Exoskeletons with Balance Capacities
Current exoskeletons replay pre-programmed trajectories at the actuated joints. Towards the employment of exoskeletons with more flexible and adaptive behavior, we investigate human balance controlExpand
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