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This paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability...
Abstract rules can be learned by several species (not only humans). We propose a biologically plausible model for same/different discrimination, that can point towards the neural basis of abstract concept learning. By including a neural adaptation mechanism to a discriminator model formerly introduced in the literature, selective clusters of neurons fire depending on whether or not the stimuli compared...
This paper overviews our recent efforts to develop robotic devices to help people relearn how to walk after spinal cord injury. Our efforts are focused on two goals. The first is to develop robotic devices that allow natural gait movements and good force control. We have developed a five degrees-of-freedom robot (PAM) that accommodates natural pelvic movement during walking. PAM uses pneumatic actuators...
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