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Our group is developing a cyber-physical walking system (CPWS) for people paralyzed by spinal cord injuries (SCI). The current CPWS consists of a functional neuromuscular stimulation (FNS) system and a powered lower-limb exoskeleton for walking with leg movements in the sagittal plane. We are developing neural control systems that learn to assist the user of this CPWS to walk with stability. In a previous publication (Liu et al., Biomimetics, 2019, 4, 28), we showed a neural controller that stabilized a simulated biped in the sagittal plane. We are considering adding degrees of freedom to the CPWS to allow more naturalmore »Free, publicly-accessible full text available August 6, 2022
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Estimating center of mass (COM) through sensor measurements is done to maintain walking and standing stability with exoskeletons. The authors present a method for estimating COM kinematics through an artificial neural network, which was trained by minimizing the mean squared error between COM displacements measured by a gold-standard motion capture system and recorded acceleration signals from body-mounted accelerometers. A total of 5 able-bodied participants were destabilized during standing through: (1) unexpected perturbations caused by 4 linear actuators pulling on the waist and (2) volitionally moving weighted jars on a shelf. Each movement type was averaged across all participants. The algorithm’s performance wasmore »
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A control system for simulated two-dimensional bipedal walking was developed. The biped model was built based on anthropometric data. At the core of the control is a Deep Deterministic Policy Gradients (DDPG) neural network that is trained in GAZEBO, a physics simulator, to predict the ideal foot location to maintain stable walking under external impulse load. Additional controllers for hip joint movement during stance phase, and ankle joint torque during toeoff, help to stabilize the robot during walking. The simulated robot can walk at a steady pace of approximately 1m/s, and during locomotion it can maintain stability with a 30N-smore »
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available August 1, 2022
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Abstract The coherent photoproduction of $$\mathrm{J}/\psi $$ J / ψ and $${\uppsi '}$$ ψ ′ mesons was measured in ultra-peripheral Pb–Pb collisions at a center-of-mass energy $$\sqrt{s_{\mathrm {NN}}}~=~5.02$$ s NN = 5.02 TeV with the ALICE detector. Charmonia are detected in the central rapidity region for events where the hadronic interactions are strongly suppressed. The $$\mathrm{J}/\psi $$ J / ψ is reconstructed using the dilepton ( $$l^{+} l^{-}$$ l + l - ) and proton–antiproton decay channels, while for the $${\uppsi '}$$ ψ ′ the dilepton and the $$l^{+} l^{-} \pi ^{+} \pi ^{-}$$ l + l - πmore »Free, publicly-accessible full text available August 1, 2022
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Free, publicly-accessible full text available August 1, 2022
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Abstract The production of $$\phi $$ ϕ mesons has been studied in pp collisions at LHC energies with the ALICE detector via the dimuon decay channel in the rapidity region $$2.5< y < 4$$ 2.5 < y < 4 . Measurements of the differential cross section $$\mathrm{d}^2\sigma /\mathrm{d}y \mathrm{d}p_{\mathrm {T}}$$ d 2 σ / d y d p T are presented as a function of the transverse momentum ( $$p_{\mathrm {T}}$$ p T ) at the center-of-mass energies $$\sqrt{s}=5.02$$ s = 5.02 , 8 and 13 TeV and compared with the ALICE results at midrapidity. The differential cross sections at $$\sqrt{s}=5.02$$more »Free, publicly-accessible full text available August 1, 2022
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Free, publicly-accessible full text available August 1, 2022