The behavior of the passive walker [1] is governed by its dynamics, and therefore, walking velocity cannot be controlled. On the other hand, a hip joint of a human is driven by an antagonistic pair of muscles, and its passivity seems to contribute to his/her behavior. In this paper, we propose to control walking velocity of a pneumatic actuated biped by changing hip passivity. We can control hi...

Legged robots have been studied and developed for a long time. The primary advantage of legged motion is that they can traverse terrains inaccessible to wheeled robots. Biped robots are probably the most complicated of legged robots. Despite their complexity there has been a substantial amount of work done in the field including different techniques that have been developed to model, design and...

Abstract. Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated....

Passive haptic feedback is very compelling, but a different physical object is needed for each virtual object requiring haptic feedback. I propose to enhance passive haptics by exploiting visual dominance, enabling a single physical object to provide haptic feedback for many differently shaped virtual objects. Potential applications include virtual prototyping, redirected walking, entertainment...

Locomotor malfunction represents a major problem in some neurological disorders like stroke and spinal cord injury. Robot-assisted walking devices have been used during rehabilitation of patients with these ailments for regaining and improving walking ability. Previous studies showed the advantage of brain-computer interface (BCI) based robot-assisted training combined with physical therapy in ...

Recently, a lot of researches which aim at realization of dynamic biped walking are being performed. There is Honda's ASIMO as a representative of researches of humanoid robots. ASIMO has joints of many degrees of freedom that are near to a human being, high environment adaptability and robustness, and can do various performances. However, it needs many sensors, complicated control, and walks w...

Recent studies on relatively young and fit individuals with limb loss suggest that maintaining muscle strength after limb loss may mitigate the high metabolic cost of walking typically seen in the larger general limb loss population. However, these data are cross-sectional and the muscle strength prior to limb loss is unknown, and it is therefore difficult to draw causal inferences on changes i...

extract: physical mobility and exercise are necessary for people health. for patient with mobility limitation this issue has more importance because these exercises help them to return to normal function more effectively. since the individual planning for each patient is not time effective, so we could plan group exercises and perform properly in orthopedic wards. the important goals of this pl...