Abstract: Systems, methods and computer program products for online recognition of bimanual or bipedal coordination modes directed to completing a task using a robot. Such a method includes the steps of determining an onset of bimanual or bipedal motion of a subject operating the robot, and, in response, receiving trajectory data of left and right hands, or left and right feet, of the subject. The method also includes the step(s) of computing, based on the trajectory data, geometric descriptors of the segment, which include a direction metric and a symmetry metric. The method further includes the step(s) classifying, based on the direction and symmetry metrics, the types of direction and symmetry for the segment. The method also includes at least one of the steps of: generating task performance feedback, and controlling the robot, based on the types of direction and symmetry.

Abstract: Systems and methods are described that relate to the control of a powered lower limb assistive device with one or more joints, where a controller of the assistive device is configured to receive one or more user-generated signals, determine control information using information in the one or more user-generated signals, select one or more joint impedance parameters of the assistive device for adjustment, and, for a mode and state of the assistive device, adjust the selected joint impedance parameters as a function of the control information. Additionally, systems and methods are described that relate to the control of such an assistive device, where a controller of the assistive device is configured to receive one or more user-generated signals containing information about the ankle angle of the assistive device, and adjust the stiffness of the ankle joint of the assistive device as a function of the ankle angle.

Abstract: Systems and methods are described that relate to the control of a powered lower limb assistive device with one or more joints, where a controller of the assistive device is configured to receive one or more user-generated signals, determine control information using information in the one or more user-generated signals, select one or more joint impedance parameters of the assistive device for adjustment, and, for a mode and state of the assistive device, adjust the selected joint impedance parameters as a function of the control information. Additionally, systems and methods are described that relate to the control of such an assistive device, where a controller of the assistive device is configured to receive one or more user-generated signals containing information about the ankle angle of the assistive device, and adjust the stiffness of the ankle joint of the assistive device as a function of the ankle angle.