Background and objectives Lower-limb wearable devices can significantly improve the
quality of life of subjects suffering from debilitating conditions, such as amputations …

Step width is vital for gait stability, postural balance control, and fall risk reduction. However,
estimating step width typically requires either fixed cameras or a full kinematic body suit of …

While walking, ground reaction forces point from the centre of pressure to the
neighbourhood of a focal point, namely the virtual pivot point (VPP), that adjusts angular …

Maintaining balance during human walking hinges on the exquisite orchestration of whole-
body angular momentum (WBAM). This study delves into the regulation of WBAM during gait …

Robotic lower limb exoskeletons have been shown to successfully provide joint torques to
assist human subjects during walking. Assisting the wearer during gait perturbations to …

Humans are required to maintain balance during locomotion in challenging environments,
which present an even bigger challenge for individuals with balance impairments …

Quasi-stiffness describes the intersegmental joint moment–angle relationship throughout the
progression of a task. Previous work has explored sagittal-plane ankle quasi-stiffness and its …

Center of mass (COM) state, specifically in a local reference frame (ie, relative to center of
pressure), is an important variable for controlling and quantifying bipedal locomotion …

Powered exoskeletons have the potential to improve ambulation for millions of individuals
who struggle with mobility. Most powered exoskeletons aim to improve walking economy …

Adaptive motor control and seamless coordination of muscle actions in response to external
perturbations are crucial to maintaining balance during bipedal locomotion. There is an …