Mark Vlutters
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View article: Identifying Physical Interactions in Contact‐Based Robot Manipulation for Learning from Demonstration
Identifying Physical Interactions in Contact‐Based Robot Manipulation for Learning from Demonstration Open
Identifying physical interactions between a robot and its environment can improve autonomous robot manipulation. Methods in the literature can identify meaningful physical interactions, such as constraints, from a single task demonstration…
View article: Versatile kinematics-based constraint identification applied to robot task reproduction
Versatile kinematics-based constraint identification applied to robot task reproduction Open
Identifying kinematic constraints between a robot and its environment can improve autonomous task execution, for example, in Learning from Demonstration. Constraint identification methods in the literature often require specific prior cons…
View article: Effect of perturbation timing on recovering whole-body angular momentum during very slow walking
Effect of perturbation timing on recovering whole-body angular momentum during very slow walking Open
Humans prioritize regulation of the whole-body angular momentum (WBAM) during walking. When perturbed, modulations of the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) assist in recovering WBAM. For…
View article: Pelvis perturbations in various directions while standing in staggered stance elicit concurrent responses in both the sagittal and frontal plane
Pelvis perturbations in various directions while standing in staggered stance elicit concurrent responses in both the sagittal and frontal plane Open
Increasing knowledge on human balance recovery strategies is important for the development of balance assistance strategies using assistive devices like a powered lower-limb exoskeleton. One of the postures which is relevant for this scena…
View article: Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics
Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics Open
Contribution: This study provides evidence for the
\nbenefit of short online courses for transdisciplinary competence
\ndevelopment of graduate students. It shows the significant challenges students face while learning, and provides instru…
View article: Pelvis perturbations in various directions while standing in staggered stance elicit concurrent responses in both the sagittal and frontal plane
Pelvis perturbations in various directions while standing in staggered stance elicit concurrent responses in both the sagittal and frontal plane Open
Walking very slowly increases the time spent in the double support phase, which could be resembled by the staggered stance posture. Maintaining balance in this posture is important in order to continue walking safely. We therefore aimed to…
View article: Recovery from sagittal-plane whole body angular momentum perturbations during walking
Recovery from sagittal-plane whole body angular momentum perturbations during walking Open
Healthy individuals highly regulate their whole body angular momentum (WBAM) during walking. Since WBAM regulation is essential in maintaining balance, a better understanding is required on how healthy individuals recover from WBAM perturb…
View article: Centre of pressure modulations in double support effectively counteract anteroposterior perturbations during gait
Centre of pressure modulations in double support effectively counteract anteroposterior perturbations during gait Open
Centre of mass (CoM) motion during human balance recovery is largely influenced by the ground reaction force (GRF) and the centre of pressure (CoP). During gait, foot placement creates a region of possible CoP locations in the following do…
View article: Assessment of Walking Ability in Patients with Intermittent Claudication Using a Smartphone Accelerometer
Assessment of Walking Ability in Patients with Intermittent Claudication Using a Smartphone Accelerometer Open
Objectives: It is challenging to accurately monitor the progress of intermittent claudication patients during or after treatment. Furthermore, diagnostic tools for intermittent claudication are not always adequate to determine whether othe…
View article: Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking
Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking Open
The amount of research on developing exoskeletons for human gait assistance has been growing in the recent years. However, the control design of exoskeletons for assisting human walking remains unclear. This paper presents a novel bio-insp…
View article: Ankle muscle responses during perturbed walking with blocked ankle joints
Ankle muscle responses during perturbed walking with blocked ankle joints Open
The ankle joint muscles can contribute to balance during walking by modulating the center of pressure and ground reaction forces through an ankle moment. This is especially effective in the sagittal plane through ankle plantar- or dorsifle…
View article: Assisting Human Balance in Standing With a Robotic Exoskeleton
Assisting Human Balance in Standing With a Robotic Exoskeleton Open
This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced the…
View article: Lower extremity joint-level responses to pelvis perturbation during human walking
Lower extremity joint-level responses to pelvis perturbation during human walking Open
The human leg joints play a major role in balance control during walking. They facilitate leg swing, and modulate the ground (re)action forces to prevent a fall. The aim of this study is to provide and explore data on perturbed human walki…
View article: Foot Placement Modulation Diminishes for Perturbations Near Foot Contact
Foot Placement Modulation Diminishes for Perturbations Near Foot Contact Open
Whenever a perturbation occurs during walking we have to maintain our balance using the recovery strategies that are available to us. Foot placement adjustment is often considered an important recovery strategy. However, because this strat…
View article: Foot placement in balance recovery
Foot placement in balance recovery Open
Maintaining balance in daily life is very common to us. For a healthy individual, a fall is simply not supposed to happen. Unfortunately, various conditions such as stroke, spinal cord injury, or aging can lead to balance problems and affe…
View article: Rapid limb‐specific modulation of vestibular contributions to ankle muscle activity during locomotion
Rapid limb‐specific modulation of vestibular contributions to ankle muscle activity during locomotion Open
Key points The vestibular influence on human walking is phase‐dependent and modulated across both limbs with changes in locomotor velocity and cadence. Using a split‐belt treadmill, we show that vestibular influence on locomotor activity i…
View article: Center of mass velocity based predictions in balance recovery following pelvis perturbations during human walking
Center of mass velocity based predictions in balance recovery following pelvis perturbations during human walking Open
In many simple walking models foot placement dictates the center of pressure location and ground reaction force components, whereas humans can modulate these aspects after foot contact. Because of the differences, it is unclear to what ext…