This paper presents a concept of humanoid robot motion generation using the dedicated
simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait …

The high complexity of the human posture and movement control system represents
challenges for diagnosis, therapy, and rehabilitation of neurological patients. We envisage …

Neurological patients using a powered lower-body exoskeleton for rehabilitation of standing
and walking skills in an upright body pose face the safety challenge of postural instability …

This article proposes a process to identify the standing stabilizer, namely, the controller in
humans to keep upright posture stable against perturbations. We model the controller as a …

Posture control and balance are basic requirements for a humanoid robot performing motor
tasks like walking and interacting with the environment. For this reason, posture control is …

Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait
dynamics, in particular, implies a change in the configuration of the device in terms of …

Human and humanoid posture control models usually rely on single or multiple degrees of
freedom inverted pendulum representation of upright stance associated with a feedback …

Using lower limb exoskeletons provides potential advantages in terms of productivity and
safety associated with reduced stress. However, complex issues in human–robot …

Human posture control models are used to analyse neurological experiments and control of
humanoid robots. This work focuses on a well-known nonlinear posture control model, the …

In this paper the synthesis of balance control is presented. The postural equilibrium
condition is introduced using a simplified model of a humanoid robot body. Next the problem …