In human gait analysis studies, the entire foot is typically modeled as a single rigid-body
segment; however, this neglects power generated/absorbed within the foot. Here we show …

Muscle–tendon units about the ankle joint generate a burst of positive power during the step-
to-step transition in human walking, termed ankle push-off, but there is no scientific …

Exoskeletons and active prostheses promise to enhance human mobility, but few have
succeeded. Optimizing device characteristics on the basis of measured human performance …

Human movement researchers are often restricted to laboratory environments and data
capture techniques that are time and/or resource intensive. Markerless pose estimation …

Most commercially available prosthetic feet do not exhibit a biomimetic torque-angle
relationship, and are unable to modulate their mechanics to assist with other mobility tasks …

Robotic prostheses have the potential to significantly improve mobility for people with lower-
limb amputation. Humans exhibit complex responses to mechanical interactions with these …

The human ankle produces a large burst of 'push-off'mechanical power late in the stance
phase of walking, reduction of which leads to considerably poorer energy economy. It is …

Unilateral lower-limb amputees exhibit asymmetry in many gait features, such as ground
force, step time, step length, and joint mechanics. Although these asymmetries result from …

Amputees using passive ankle-foot prostheses tend to expend more metabolic energy
during walking than non-amputees, and reducing this cost has been a central motivation for …

This paper demonstrates methods for the online optimization of assistive robotic devices
such as powered prostheses, orthoses and exoskeletons. Our algorithms estimate the value …