In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter ...

A fault-tolerant gait of multi-legged systems is defined as a gait which can maintain the gait stability and continue its walking against the occurrence of a leg failure (Yang & Kim, 1998). The notion of the fault-tolerant gait comes from the fact that legged robots with static walking have inherent fault tolerance capability against a failure in a leg, since a failed leg for itself does not ca...

BACKGROUND Early prognosis, adequate goal setting, and referral are important for stroke management. OBJECTIVE To investigate if independent gait 6 months poststroke can be accurately predicted within the first 72 hours poststroke, based on simple clinical bedside tests. Reassessment on days 5 and 9 was used to check whether accuracy changed over time. METHODS In 154 first-ever ischemic str...

Recently, real time imaging of the cortical control of gait became possible with functional near-infrared spectroscopy (fNIRS). So far, little is known about the activations of various cortical areas in more complex forms of gait, such as precision stepping. From previous work on animals and humans one would expect precision stepping to elicit extra activity in the sensorimotor cortices (S1/M1)...

This paper presents a method of computing efficient and naturallooking motions for humanoid robots walking on varied terrain. It uses a small set of high-quality motion primitives (such as a fixed gait on flat ground) that have been generated offline. But rather than restrict motion to these primitives, it uses them to derive a sampling strategy for a probabilistic, sample-based planner. Result...

This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard’s equations of motion ...

Application of neuromusculoskeletal models to clinical problems will likely require model customization to the unique anatomical and neurological conditions of each patient. Unfortunately, current modeling methods make model customization to patient data difficult, especially for model parameter values related to muscle-tendon actuators and musculoskeletal geometry [1]. Improved methods are nee...

This paper describes the mechanical, electrical and software design of the humanoid robot systems by TH_MOS in KidSize competition RoboCup. The improved MOS_III and newly designed MOS2007 perform as test bed for multiple research fields in the lab, such as locomotion, dynamical vision processing, robot behavior control. A gait planning strategy is proposed and a vision processing method is impl...

The most relevant differences existing between wheeled and legged robots, from the point of view of the expected navigation tasks to be performed using each kind of locomotion, are reviewed. We propose a new framework for legged robot navigation that replaces many implicit assumptions usually made for wheeled robots by new ones that are better suited to legged robots. Based on this, specific te...

The foot is a complex anatomical and biomechanical structure. It functions to allow stable stance, ambulation and the effective transfer of force through the lower limb. A thorough understanding of how the foot and ankle achieve this is essential for planning surgery and avoiding the consequences of nerve injury, poor wound healing and disrupted function. This review looks at the current unders...