Influence of Motion Restrictions in an Ankle Exoskeleton on Gait Kinematics and Stability in Straight Walking.
Miha DezmanCharlotte MarquardtAdnan UgurTamim AsfourPublished in: CoRR (2024)
Keyphrases
- limit cycle
- lower extremity
- walking speed
- human gait
- human walking
- joint angles
- degrees of freedom
- steady state
- gait analysis
- control scheme
- end effector
- motion capture
- disturbance rejection
- inverse kinematics
- neural model
- humanoid robot
- motion analysis
- motion model
- human body
- joint space
- robot manipulators
- image sequences
- gait recognition
- optical flow
- control loop
- biped robot
- parallel manipulator
- parallel robot
- legged robots
- human identification
- motion estimation
- person identification
- upper body
- motion planning
- robot arm
- dynamic model
- control algorithm
- human motion
- motion tracking
- gait cycle
- moving objects
- feature points
- space time
- camera motion
- closed loop