Recently many biped walking robots are developed, and almost all the researches about those robots adopt mass-link models to control and referring zero moment point not to fall over while walking. Here we position these conventional control methods as “model-based control”. Features of the method are that the robot moves accurate and rigid at low efficiency. So it is also important to remember ...

The interest in biped robots has highly increased in the last few years. The availability of cheap and advanced actuators and electronic controllers allowed the realization of many biped systems. There are some very famous humanoid robots, like the SONY SDR3X, or the HONDA Asimo. But there are also a lot of other biped robots at university research level. Many control strategy have been propose...

Over time, leg prostheses have improved in design, but have been incapable of actively adapting to different walking velocities in a manner comparable to a biological limb. People with a leg amputation using such commercially available passive-elastic prostheses require significantly more metabolic energy to walk at the same velocities, prefer to walk slower and have abnormal biomechanics compa...

Introduction: Balance in the elderly is one of the important issues, and imbalance can create irreparable problems for the elderly. The aim of this study was to investigate the effect of Frenkel balance exercise and aerobic exercise (walking) on improving the balance of elderly patients in Kerman province in 2016-2017.   Methods: We used a randomized block design, with 4 participants in each ...

Highly-simplified models of walking and running can show passive dynamic (i.e. mechanical) stability[1-2]. Although these models capture many important aspects of locomotor dynamics, the extent to which they can describe the stability properties of human locomotion is still unclear. Human locomotion involves coordinating many degrees of freedom (DOFs), which are coupled (mechanically, kinematic...

People with a transtibial amputation using passive-elastic prostheses exhibit reduced prosthetic ankle power and push-off work compared to non-amputees and compensate by increasing their affected leg (AL) hip joint work and unaffected leg (UL) ankle, knee, and hip joint and leg work during level-ground walking. Use of a powered ankle–foot prosthesis normalizes step-to-step transition work durin...