Robotics and neuroscience are sister disciplines that both aim to understand how agile,
efficient, and robust locomotion can be achieved in autonomous agents. Robotics has …

Animal locomotion is the result of complex and multi-layered interactions between the
nervous system, the musculo-skeletal system and the environment. Decoding the underlying …

This letter presents a novel method for reference trajectory adaptation in lower limb
rehabilitation exoskeletons during walking. Our adaptation rule is extracted from a cost …

Humans walk and run, as well as change their gait speed, through the control of their
complicated and redundant musculoskeletal system. These gaits exhibit different locomotor …

The central nervous system of humans and other animals modulates spinal cord activity to
achieve several locomotion behaviors. Previous neuromechanical models investigated the …

Background Balance control is important for mobility, yet exoskeleton research has mainly
focused on improving metabolic energy efficiency. Here we present a biomimetic …

Walking on unknown and rough terrain is challenging for (bipedal) robots, while humans
naturally cope with perturbations. Therefore, human strategies serve as an excellent …

Maintaining balance during walking is a continuous sensorimotor control problem.
Throughout the movement, the central nervous system has to collect sensory data about the …

Humans can walk efficiently in a certain speed range, while state-of-the-art biped robots can
hardly walk as fast as humans. In this paper, we investigate how to walk faster for two simple …

Several approaches are currently employed to address the predictive simulation of human
motion, having in common their high computational demand. Muscle modeling seems to be …