Objectives: Knowledge about gender differences in intra-limb coordination during walking provides insight into the adaptability of central nervous system for controlling gait in older adults. We assessed the variability and phase dynamic of the intra-limb coordination in older men and women during walking. Methods: Twenty two older people, 11 female and 11 male, participated in this study. T...

Some modern walking robots are capable of walking over very rough terrain. However, these robots often require significantly more energy to do so than a human. Passive-dynamic walking robots are often quite energy-efficient, but are usually only able to walk over smooth surfaces. In this work, we examine the dynamics of a 2D rimless wheel, an often studied simple model for walking. This paper a...

This article describes a method for designing humanoid robots and generating their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg and foot mechanisms are described to perform these tasks. A method of producing intrinsic smooth motions for fast walking gaits of bipedal robots with differen...

The biped robots have higher mobility than conventional wheeled robots, especially when moving on rough terrains, up and down slopes and in environments with obstacles. The geometry of the biped robot is similar to the human beings, so it is easy to adapt to the human life environment and can help the human beings to finish the complex work. With the development of the society, the needs for ro...

This chapter introduces the paradigm `Limit Cycle Walking'. This paradigm for the design and control of two-legged walking robots can lead to unprecedented performance in terms of speed, efficiency, disturbance rejection and versatility. This is possible because this paradigm imposes fewer artificial constraints to the robot's walking motion compared to other existing paradigms. The application...

The purpose of this study was to test the effect of arm swing on modulation of soleus H-reflexes amplitudes during walking. Fifteen subjects walked (1.07 m/s) on a treadmill in 4 arm swing conditions: 1-natural arm swing (control), 2-active restraint, 3-passive restraint, and 4-passive-assisted. Tibial nerve was electrically stimulated and soleus EMG was recorded. H-reflex amplitude was signifi...