Abstract: For many planar bipedal models, each step is divided into a finite time single support period and an instantaneous double support period. During single support, the biped is typically underactuated and thus has limited ...

Abstract: Exoskeletons are increasingly being used to treat gait pathologies. Many of these exoskeletons use a foot plate to actuate the foot, altering the effective stiffness of the foot. Stiffness of the biological foot and ankle ...