We present an approach for recognizing human walking movements using low-level motion regularities and constraints. Biomechanical features for classification are automatically extracted from video sequences of walkers. A multiplicative classification rule using statistical distances is then used to determine whether an unknown motion is consistent with normal walking patterns. Recognition resul...

Humans generate bipedal walking by cooperatively manipulating their complicated and redundant musculoskeletal systems to produce adaptive behaviors in diverse environments. To elucidate the mechanisms that generate adaptive human bipedal locomotion, we conduct numerical simulations based on a musculoskeletal model and a locomotor controller constructed from anatomical and physiological findings...

In this paper, we present a wearable Augmented Reality (AR) system with personal positioning based on walking locomotion analysis that allows a user to freely move around indoors and outdoors. The user is equipped with self-contained sensors, a wearable camera, an inertial head tracker and display. The system is based on the sensor fusion of estimates for relative displacement caused by human w...

Robotic lower limb exoskeletons that can alter joint mechanical power output are novel tools for studying the relationship between the mechanics and energetics of human locomotion. We built pneumatically powered ankle exoskeletons controlled by the user's own soleus electromyography (i.e. proportional myoelectric control) to determine whether mechanical assistance at the ankle joint could reduc...

The aim of this paper is to emphasize the interaction which should exist between the domains involved in the study of bipedal locomotion, and the limits of this interaction. These domains can be divided into two main fields depending whether they are concerned with living beings or with artificial structures. The project BIP of INRIA has developed an anthropomorphic mechanical biped machine aim...

In recent years, there has been an increasing interest in the functionality of the foot in human normal walking. Different from the existing methods that represent the foot as a single rigid bar, several multi-segmented foot models have been studied to evaluate the effects of the segmented foot structures on human walking for clinical applications [1], adolescent gaits [2] and pediatric gaits [...

Object manipulation tasks by humanoid robots often do not only involve the hands and upper limbs but require flexible control of whole body movements. Examples are cooperative transportation tasks where a human and a robot carry an object together. Here, the robot has to reactively adapt its walking motion in order to compensate for the pushing and pulling forces exerted by the human via the ca...

Bipedal walking is evident in the earliest hominins [Zollikofer CPE, Ponce de Leon MS, Lieberman DE, Guy F, Pilbeam D, et al. (2005) Nature 434:755-759], but why our unique two-legged gait evolved remains unknown. Here, we analyze walking energetics and biomechanics for adult chimpanzees and humans to investigate the long-standing hypothesis that bipedalism reduced the energy cost of walking co...

The scope of this paper is to propose a system for the automatic derivation of a human curved walking trajectory from the analysis provided by its synthetic vision module. The study context is a planar environment with still and sparse foothold locations. A general methodology associates the two low-level modules of vision and walking with a planification module which establishes the middle ter...

An approach to analyzing human walking states based on multiviewing-angle was proposed in this paper. Firstly, the moving person was detected using self-adaptive background updating algorithm. Then, the moving period of the centroid in the upper part of the human body was extracted by 4direction chain code and the next motion of person was predicted. Finally, fuzzy set of walking states was obt...