During human walking, the centre of mass (CoM) is outside the base of support for most of
the time, which poses a challenge to stabilizing the gait pattern. Nevertheless, most of us are …

Walking without falling requires stabilization of the trajectory of the body center of mass
relative to the base of support. Model studies suggest that this requires active, feedback …

Humans often traverse real-world environments with a variety of surface irregularities and
inconsistencies, which can disrupt steady gait and require additional effort. Such effects …

Step-by-step foot placement control, relative to the center of mass (CoM) kinematic state, is
generally considered a dominant mechanism for maintenance of gait stability. By adequate …

Using wearable robotics to modulate step width in normal walking for enhanced
mediolateral balance has not been demonstrated in the field. We designed a bilateral hip …

Derived from inverted pendulum dynamics, mediolateral Margin of Stability (MoS ML) is a
mechanically-grounded measure of instantaneous frontal-plane stability. However, average …

The use of wearable robots to provide walking assistance has rapidly grown over the past
decade, with notable advances made in robot design and control methods toward reducing …

Balance training aims to improve balance and transfer acquired skills to real-life tasks. How
older adults adapt gait to different conditions, and whether these adaptations are altered by …

Walking is unstable and requires active control. Foot placement is the primary strategy to
maintain frontal-plane balance with contributions from lateral ankle torques, ankle push-off …

Imbalance is common following mild Traumatic Brain Injury (mTBI) and can persist months
after the initial injury. To determine if mTBI subjects with chronic imbalance differed from …