In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints, and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on sur...

A motion system collected 120-Hz data from 14 baseball adult hitters using normal and choke-up bat grips. Six swings were digitized for each hitter, and temporal and kinematic parameters were calculated. Compared with a normal grip, the choke-up grip resulted in 1) less time during stride phase and swing; 2) the upper torso more opened at lead foot contact; 3) the pelvis more closed and less ba...

Powered knee-ankle prostheses are capable of providing net-positive mechanical energy to amputees. Yet, there are limitless ways to deliver this energy throughout the gait cycle. It remains largely unknown how different combinations of active knee and ankle assistance affect the walking mechanics of transfemoral amputees. This study assessed the relative contributions of stance phase knee swing...

The trajectory of the heel and toe during the swing phase of human gait were analyzed on young adults. The magnitude and variability of minimum toe clearance and heel-contact velocity were documented on 10 repeat walking trials on 11 subjects. The energetics that controlled step length resulted from a separate study of 55 walking trials conducted on subjects walking at slow, natural, and fast c...

The purpose of this study was to evaluate possible effects of synchronized metronome training (SMT) on movement dynamics during golf-swing performance, as captured by kinematic analysis. A one-group, between-test design was applied on 13 male golfers (27.5 +/- 4.6 years old, 12.7 +/- 4.9 handicap) who completed 12 sessions of SMT over a four-week period. Pre- and post-assessments of golf swings...

BACKGROUND Traditionally, the anatomical knee joint is locked in extension when walking with a conventional knee-ankle-foot orthosis. A powered knee-ankle-foot orthosis was developed to provide restriction of knee flexion during stance phase and active flexion and extension of the knee during swing phase of gait. OBJECTIVE The purpose of this study was to determine differences of the powered ...

When we walk, there are infinite number of possible trajectories for leg swing. How does the brain design the trajectory? As a candidate for the strategy of the trajectory selection, we assessed the criterion of the minimization of the energy cost in this study. We computed the optimal leg trajectory that minimizes the energy cost during the swing phase under the boundary condition that enables...

In this investigation, we obtained data that support the hypothesis that afferent signals associated with hip flexion play a role in initiating the swing-to-stance transition of the hind legs in walking cats. Direct evidence came from observations in walking decerebrate cats. Assisting the flexion of the hip joint during swing advanced the onset of activity in ankle extensor muscles, and this a...

The purpose of this study was to characterize the effect of speed and influence of individual muscles on hamstring stretch, loading, and work during the swing phase of sprinting. We measured three-dimensional kinematics and electromyography (EMG) activities of 19 athletes sprinting on a treadmill at speeds ranging from 80% to 100% of maximum speed. We then generated muscle-actuated forward dyna...

INTRODUCTION: Two-thirds of those suffering a cerebral vascular accident (CVA) survive, with approximately half of those being left with physical incapacity [1]. Hemiplegic patients with cerebral vascular lesion, present a clinical picture which combines a variety of motor, sensory, visual and cognitive defects. These defects typically lead to disturbances of the gait cycle, characterised by ch...