Balance recovery during walking requires complex sensory-motor integration. Mechanisms to avoid falls are active concomitantly with human locomotion motor patterns. It has been suggested that gait can be described by a set of motor modules (synergies), but little is known on the modularity of gait during recovery of balance due to unexpected slips. Our hypothesis was that muscular activation du...

The Locomotor Experience Applied Post Stroke rehabilitation trial found equivalent walking outcomes for body weight-supported treadmill plus overground walking practice versus home-based exercise that did not emphasize walking. From this large database, we examined several clinically important questions that provide insights into recovery of walking that may affect future trial designs. Using l...

One hundred and sixty-two patients were referred to a rehabilitation unit after an acute stroke. The patterns of recovery of overall functional ability, arm function, walking and speech in 92 of 101 survivors have been analysed. In all modalities the majority of recovery occurs within 3 months; although improvement is seen thereafter it does not reach statistical significance. Possible reasons ...

Although the behavior and factors of exercise tolerance have been studied during exercise in patients with chronic obstructive pulmonary disease (COPD), little attention has been paid to the after-effects of such activity. Arterial oxygen saturation (SaO2) was monitored during and after a 10 min walking exercise in aged patients with COPD. Neither baseline SaO2 nor mean SaO2 during exercise cor...

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend be based on simplified physical models hard-coded strategies. Although successful in specific scenarios, approach requires demanding tuning of parameters switching logic between specifically-designed controllers for handling more gene...

This article studies capturability and push recovery for quadruped locomotion. Despite the rich literature on analysis legged robots, existing tools have been developed mainly with requirement of reaching static or quasi-static balance following a push. In practice, this commonly restricts to cases simple dynamics fails encode time dependence capturable states locomotion time-based gaits. To ad...

This letter presents a new push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system's rotational dynamics. The proposed framework actively generates centroidal angular momentum (CAM) references based on force magnitude and direction of to counteract disturbance maintain its balance. Since robot can only store limited amount momentum, CAM reference is generated...

Almost all individuals exhibit sensory eye dominance, one neural basis of which is unequal interocular inhibition. Sensory eye dominance can impair binocular functions that depend on both excitatory and inhibitory mechanisms. We developed a 'push-pull' perceptual learning protocol that simultaneously affects the excitatory and inhibitory networks to reduce sensory eye dominance and improve ster...

In able-bodied individuals, the ankle provides more positive work during the stance phase of gait, especially at push-off, than both the knee and the hip [1]. Neurological injuries, such as stroke, weaken neural connections to distal muscles, specifically to those muscles which act about the ankle joint. The result is a reduction in the amount of positive work the ankle can provide [2]. Therefo...