IEEE Robotics & Automation Magazine - March 2016 - 95

[4] M. R. Tucker, J. Olivier, A. Pagel, H. Bleuler, M. Bouri, O. Lambercy, J. R.
Millan, R. Riener, H. Vallery, and R. Gassert, "Control strategies for active
lower extremity prosthetics and orthotics: A review," J. Neuroeng. Rehab., vol.
12, no. 1, 2015.
[5] I. Díaz, J. J. Gil, and E. Snchez, "Lower-limb robotic rehabilitation: Literature review and challenges," J. Robot., vol. 2011, Article 759764, 11 pages, 2011.
[6] T. Yan, M. Cempini, C. M. Oddo, and N. Vitiello, "Review of assistive strategies in powered lower-limb orthoses and exoskeletons," Robot. Autonomous
Syst., vol. 64, pp. 120-136, Feb. 2015.
[7] W. Hassani, S. Mohammed, and Y. Amirat. (2013). Real-time emg driven
lower limb actuated orthosis for assistance as needed movement strategy. in
Proc. Robotics: Science Systems Conf. [Online]. Available: http://www.roboticsconference.org
[8] K. S. Türker, "Electromyography: Some methodological problems and issues," Phys. Ther., vol. 73, no. 10, pp. 698-710, 1993.
[9] H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, "On the control of the
Berkeley lower extremity exoskeleton (BLEEX)," in Proc. IEEE Int. Conf. Robotics Automation, 2005, pp. 4353-4360.
[10] A. J. Ijspeert, "Central pattern generators for locomotion control in animals and robots: A review," Neural Netw., vol. 21, no. 4, pp. 642-653, 2008.

[23] D. A. Winter, The biomechanics and motor control of human gait: Normal, elderly and pathological, Ontario: Univ. of Waterloo Press, 1991.
[24] J. M. Wang, S. R. Hamner, S. L. Delp, and V. Koltun, "Optimizing locomotion controllers using biologically-based actuators and objectives," ACM
Trans. Graph., vol. 31, no. 4, Article 25, 2012.
[25] B. Koopman and W. van Dijk, "Basic gait kinematics: Reference data of
normal subjects," Experimental data, Univ. of Twente, 2010.
[26] J. M. Bradford, D. A. Winter, "An integrated biomechanical analysis of
normal stair ascent and descent," J. Biomech., vol. 21, no. 9, pp. 733-744, 1988.
[27] R. Riener, M. Rabuffetti, and C. Frigo, "Stair ascent and descent at different inclinations," Gait Posture, vol. 15, no. 1, pp. 32-44, 2002.
[28] (2015, Mar. 28). CYBERLEGs. [Online]. Available: http://www.cyberlegs.
eu/
[29] F. Giovacchini, F. Vannetti, M. Fantozzi, M. Cempini, M. Cortese, A.
Parri, T. Yan, D. Lefeber, and N. Vitiello, "A light-weight active orthosis for hip
movement assistance," Robot. Autonomous Syst., vol. 73, pp. 123-134, Nov.
2014.
[30] L. Ambrozic, M. Gorsic, J. Geeroms, L. Flynn, R. Molino Lova, R. Kamnik, and M. Munih, N. Vitiello. "CYBERLEGs-A user-oriented robotic transfemoral prosthesis with whole-body awareness control," IEEE Robot. Autom.

[11] S. Degallier and A. Ijspeert, "Modeling discrete and rhythmic movements
through motor primitives: A review," Biol. Cybern., vol. 103, no. 4, pp. 319-338, 2010.
[12] X. Zhang and M. Hashimoto, "Synchronization-based trajectory generation method for a robotic suit using neural oscillators for hip joint support in
walking," Mechatronics, vol. 22, no. 1, pp. 33-44, 2012.
[13] R. Ronsse, T. Lenzi, N. Vitiello, B. Koopman, E. van Asseldonk, S. M. M.
de Rossi, J. van den Kieboom, H. van der Kooij, M. C. Carrozza, and A. J.
Ijspeert, "Oscillator-based assistance of cyclical movements: Model-based and
model-free approaches," Med. Biol. Eng. Comput., vol. 49, no. 10, pp. 1173-
1185, 2011.
[14] H. Geyer and H. Herr, "A Muscle-reflex model that encodes principles of
legged mechanics produces human walking dynamics and muscle activities,"
IEEE Trans. Neural Syst. Rehab. Eng., vol. 18, no. 3, pp. 263-273, 2010.
[15] J. C. Selinger, S. M. O'Connor, J. D. Wong, and J. M. Donelan, "Humans
can continuously optimize energetic cost during walking," Curr. Biol., vol. 25,
no. 18, pp. 2452-2456, 2015.
[16] E. Bizzi, V. C. K. Cheung, A. d'Avella, P. Saltiel, and M. Tresch, "Combining modules for movement," Brain Res. Rev., vol. 57, no. 1, pp. 125-133, 2008.
[17] S. F. Giszter, "Motor primitives-new data and future questions," Curr.
opinion neurobiol., vol. 33, pp. 156-165, Aug. 2015.
[18] Y. P. Ivanenko, R. E. Poppele, and F. Lacquaniti, "Five basic muscle activation patterns account for muscle activity during human locomotion," J. Physiol., vol. 556, pp. 267-282, Apr. 2004.
[19] G. Capellini, Y. P. Ivanenko, R. E. Poppele, and F. Lacquaniti, "Motor patterns in human walking and running," J. Neurophysiol., vol. 95, no. 6, pp.
3426-3437, 2006.
[20] T. Flash and B. Hochner, "Motor primitives in vertebrates and invertebrate," Curr. Opinion Neurobiol., vol. 15, no. 6, pp. 660-666, 2005.
[21] S. Degallier, L. Righetti, S. Gay, and A. Ijspeert, "Toward simple control
for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives," Autonomous Robot., vol. 31, no. 2, pp. 155-181, 2011.
[22] R. Ronsse, S. M. M. de Rossi, N. Vitiello, T. Lenzi, M. C. Carrozza, and A. J.
Ijspeert, "Real-time estimate of velocity and acceleration of quasi-periodic signals
using adaptive oscillators," IEEE Trans. Robot., vol. 29, no. 3, pp. 783-791, 2013.

Mag., vol. 21, no. 4, pp. 82-93, 2014.
[31] L. Righetti, J. Buchli, and A. J. Ijspeert. "Dynamic hebbian learning in
adaptive frequency oscillators," Physica D, vol. 216, no. 2, pp. 269-281, 2006.
[32] H. Geyer, A. Seyfarth, and R. Blickhan, "Compliant leg behaviour explains basic dynamics of walking and running," Proc. Biol. Sci., vol. 273, no.
1603, pp. 2861-2867, 2006.

Virginia Ruiz Garate, Center for Research in Mechatronics;
Institute of Mechanics, Materials, and Civil Engineering;
and Louvain Bionics, Université catholique de Louvain,
Louvain-la-Neuve, Belgium. E-mail: virginia.ruizgarate@
uclouvain.be.
Andrea Parri, The BioRobotics Institute, Scuola Superiore
Sant'Anna, Pisa, Italy. E-mail: an.parri@sssup.it.
Tingfang Yan, The BioRobotics Institute, Scuola Superiore
Sant'Anna, Pisa, Italy. E-mail: t.yan@sssup.it.
Marko Munih, Laboratory of Robotics, Faculty of Electrical
Engineering, University of Ljubljana, Slovenia. E-mail: marko.
munih@robo.fe.uni-lj.si.
Raffaele Molino Lova, Fondazione Don Carlo Gnocchi, Firenze, Italy. E-mail: rmolino@dongnocchi.it
Nicola Vitiello, The BioRobotics Institute, Scuola Superiore
Sant'Anna, Pisa, Italy; and Fondazione Don Carlo Gnocchi,
Firenze, Italy. E-mail: n.vitiello@sssup.it
Renaud Ronsse, Center for Research in Mechatronics; Institute
of Mechanics, Materials, and Civil Engineering; and Louvain
Bionics, Université catholique de Louvain, Louvain-la-Neuve,
Belgium. E-mail: renaud.ronsse@uclouvain.be.

march 2016

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

95
http://www.robotic http://www.cyberlegs http://www.sconference.org
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2016
