Guoping Zhao

Guoping Zhao
Technische Universität Darmstadt | TU · Institut für Sportwissenschaft

Dr. rer. nat.

About

22
Publications
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185
Citations

Publications

Publications (22)
Article
Full-text available
The dynamics of the human body can be described by the accelerations and masses of the different body parts (e.g., legs, arm, trunk). These body parts can exhibit specific coordination patterns with each other. In human walking, we found that the swing leg cooperates with the upper body and the stance leg in different ways (e.g., in-phase and out-o...
Conference Paper
p>Especially lightweight and long-span footbridges are prone to vibrations and oscillations induced by users or environmental factors. While the interaction between construction, structure, stability and resulting vibrations have been investigated thoroughly in the past, research assessing user experience remains sparse. In this paper, we discuss...
Conference Paper
p>Comfort and acceptance are vital to user experience and therefore one of the main challenges in footbridge design. Due to the community’s current thrive towards efficient lightweight footbridges, pedestrian induced vibrations come into focus. This implies the need for empirical investigations of user experience on vibrating footbridges. In this...
Article
Full-text available
This study aims to improve our understanding of gait initiation mechanisms and the lower-limb joint mechanical energy contributions. Healthy subjects were instructed to initiate gait on an instrumented track to reach three self-selected target velocities: slow, normal and fast. Lower-limb joint kinematics and kinetics of the first five strides were...
Article
Full-text available
To minimize fatigue, sustain workloads, and reduce the risk of injuries, the exoskeleton Carry was developed. Carry combines a soft human–machine interface and soft pneumatic actuation to assist the elbow in load holding and carrying. We hypothesize that the assistance of Carry would decrease, muscle activity, net metabolic rate, and fatigue. With...
Article
Full-text available
Lower limb exoskeletons and lower limb prostheses have the potential to reduce gait limitations during stair ambulation. To develop robotic assistance devices, the biomechanics of stair ambulation and the required transitions to level walking have to be understood. This study aimed to identify the timing of these transitions, to determine if transi...
Conference Paper
There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most similar ones to biological muscles. In addition to simi...
Article
Full-text available
It has been shown that human-like hopping can be achieved by muscle reflex control in the neuromechanical simulations. However, it is unclear if this concept is applicable and feasible for controlling a real robot. This paper presents a low-cost two-segmented robotic leg design and demonstrates the feasibility and the benefits of the bio-inspired n...
Chapter
In this paper we present the novel teaching project ANSYMB which we introduced during the last years at Technische Universität Darmstadt. In ANSYMB, students learn to analyse and synthesize human movements using research techniques used in biomechanics, computer sciences and engineering. Here, we explain key concepts and illustrate some of the outc...
Article
Full-text available
The amount of research on developing exoskeletons for human gait assistance has been growing in the recent years. However, the control design of exoskeletons for assisting human walking remains unclear. This paper presents a novel bio-inspired reflex-based control for assisting human walking. In this approach, the leg force is used as a feedback si...
Chapter
Human locomotion is a complex movement task, which can be divided into a set of locomotor subfunctions. These subfunction comprise stance leg function, swing leg function and balance. Each of these locomotor subfunctions requires a specific control of individual muscles in the human body. We propose a novel method based on sensor-motor-maps to iden...
Article
Full-text available
This paper proposes a methodology to reconstruct the vertical GRFs from the registered body motion that is reasonably robust against measurement noise. The vertical GRFs are reconstructed from the experimentally identified time-variant pacing rate and a generalised single-step load model available in the literature. The proposed methodology only re...
Conference Paper
Perturbations are used to study and identify mechanisms of human motor control. This study introduces a concept for a movement manipulator prototype to explore human response and recovery strategies following temporary perturbations at the local joint level. We utilized a soft humanmachine interface in combination with a tethered actuation unit to...
Article
Full-text available
A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a h...
Article
Full-text available
A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic...
Conference Paper
Full-text available
We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP t...
Article
Full-text available
Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simp...
Conference Paper
Full-text available
CLAWAR 2015: 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Zhejiang University, HangZhou, China, 6 – 9 September 2015 Edited by: Hongye Su ( Zhejiang University, China), Tianmiao Wang ( Beijing University of Aeronautics and Astronautics, China), Mohammad O Tokhi ( University of Sheffie...
Poster
To understand human movements, one has to understand how they are controlled. These movements are realized by a control-loop that takes into account the interplay between system actuators, mechanics, sensors and control. In addition, system mechanics can be influenced by the environment. The goal of this research is to gather insights into how exte...

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Projects

Projects (4)
Project
Teaching Program: Analysis and Synthesis of Human Movements (ANSYMB) - From basics of human science to practical applications https://www.ansymb.tu-darmstadt.de This teaching project aims at bringing students into contact with interdisciplinary methods of measuring and processing human movement data as well as the technical implementation of different locomotion tasks (e.g., robotics or prosthetics). The modules are relevant for a variety of students, but especially for students from sport science, psychology, mechanical engineering, electrical engineering or computer science.
Project
Compared to muscles (as biological actuators), a similarly appropriate actuator for legged robots is still missing. This actuator needs to be energy-efficient and robust against perturbations (e.g., impacts) over a range of different gaits and conditions (e.g., speed). In this project, we aim at designing such an actuator by combining the advantages of electric motors (EM) and pneumatic artificial muscles (PAM) in a novel electric-pneumatic actuator, called EPA.
Archived project
BALANCE - Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons - was funded by the EU FP7 program, under Grant Agreement 601003. It was active 1.1.2013, until 31.7.2017. In this researchgate project, the outputs of BALANCE are archived. The project was performed by a consortium existing of research from: ETH Zürich, TU Darmstadt, CEA-List, Xsens BV, University of Twente, University Rehabilitation Institute Soca, Imperial College, and was coordinated by Dr. Jan Veneman affiliated with Tecnalia Research and Innovation. The goal of BALANCE was to realize a robotic exoskeleton that improves the balance performance of humans while standing and walking. Such a robot could help in situations where keeping balance is difficult, such as in specific work conditions, or help people that have difficulty maintaining their balance, such as people with neurological injury, for example during rehabilitation sessions. http://www.balance-fp7.eu/