A planar underactuated bipedal robot with an impulsive foot model is considered. The analysis extends previous work on a model with unactuated point feet of Westervelt et al. 1 to include the actuator model of Kuo . The impulsive actuator at each leg end is active only during the double support phase, which results in the model being identical to the model with unactuated point feet for the sin...

[Purpose] The purpose of this study was to determine the change of allocation of attention caused by a difference in gait phase and gait speed. We also determined the relationship between attentional demand and gait automaticity change caused by the gait speed alteration. [Subjects and Methods] Ten male participated. Participants were instructed to perform the probe reaction time (RT) task duri...

Superparamagnetic single phase zinc ferrite nanoparticles have been prepared by coprecipitation method at 20 °C without any subsequent calcination. The composition, crystallite size, microstructure and magnetic properties of the prepared nanoparticles were investigated using X-ray diffraction (XRD), field emission scanning electron microscope (FESEM), transmission electron microscope (TEM)...

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This paper is devoted to a stability study of a walking gait for a biped. The walking gait is periodic and it is composed of a single-support phase, a passive impact, and a double-support phase. The reference trajectories are described as a function of the shin orientation versus the ground of the stance leg. We use the Poincaré map to study the stability of the walking gait of the biped. We on...

In this paper, we propose a new method to generate C continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double s...

BACKGROUND Vaulting is a gait compensatory mechanism used by transfemoral amputees to assist toe clearance during the prosthetic swing phase. It is defined by a plantar flexion of the contralateral ankle during the single-limb support phase. The aim of the study is to propose a method to quantify vaulting of transfemoral amputees. METHODS 17 transfemoral amputees and 28 asymptomatic subjects ...