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Locomotion requires careful coordination across the various joints and muscles of the body, which can be disrupted after neuromotor injuries such as stroke. People poststroke often have weakness in their paretic, or more impaired, ankle plantarflexors and a corresponding reliance on the hip joint to generate sufficient forward propulsion. The field of robotic rehabilitation has developed wearable systems that provide joint- and task-specific training for survivors of stroke, and in turn, increase use of the ankle muscles. However, capturing ankle use at the plantarflexor level remains a challenge with conventional tools given the unknown relative contributions of the dorsiflexor muscles. Moreover, variability across individuals complicates the interpretation of user response to these robotic interventions. In this work, we used standard biomechanical analysis as well as shear wave tensiometry in five people post-stroke to gain insight into user-specific ankle and hip adaptations in response to three levels of targeted plantarflexion exosuit resistance. We show that at a group and individual-level, evidence suggests a shift in biomechanical strategy from relying on the hip to using the ankle to modulate propulsion, with a subset of participants completely shifting to the ankle by the end of training. This work represents a step towards exploring more individualized methods for characterizing user response during adaptation to wearable robotic training interventions. 

The growth of renewable energy technologies creates significant challenges for the stability of the system because of their intermittency. Nonetheless, we can value these technologies with storage systems. We model the supply by a renewable technology, wind, into a storage facility using the leaky bucket mechanism. The bucket is synonymous with storage while the leakage is equivalent to meeting load. Modelica is used to capture: (i) the time-dependence of the state of the bucket based on a physical model of storage; (ii) the stochastic representation of wind energy using wind speed data that is fed into a physical model of a wind technology; and (iii) the load, modeled as a resistor-inductor circuit. The strength of Modelica in using non-causal equations for basic sub-systems that are linked together is harnessed through its libraries. We find that there is a diminishing return to storage. Beyond a certain level of storage, the integration of a reliable baseload power supply is required to diminish the risk due to reduced reliability. The need for storage systems as a hedge against intermittency is dependent on the interplay between the supply volatilities and the stochastic load to guarantee an acceptable level of quality of service and reliability.