In this study an experimental passive dynamic biped walker is developed. The design of the experimental passive walker incorporates an accelerometer and an encoder for the purpose of gait measurement. The aim of this study is to compare the equivalency of testing a passive dynamic biped walker on a ramp to testing on a treadmill. The measured gaits produced on a ramp and on a treadmill are used...

The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle. we present recent results of trajectory sensitivity analysis to effeciently determine the stability of limit cycles for the biped robot.

UNLABELLED Ankle-foot orthoses (AFOs) can provide support and improve walking ability in individuals with plantarflexor weakness. Passive-dynamic AFO stiffness can be optimized for over-ground walking, however little research exists for uphill walking, when plantarflexor contributions are key. PURPOSE Compare uphill walking biomechanics (1) between dynamic AFO users and able-bodied control su...

BACKGROUND Cerebral palsy is the commonest cause of severe physical disability in childhood. For many years treatment has centred on the use of physiotherapy and orthotics to overcome the problems of leg spasticity, which interferes with walking and can lead to limb deformity. Intramuscular botulinum toxin (BT-A) offers a targeted form of therapy to reduce spasticity in specific muscle groups. ...

Measures calculated from unperturbed walking patterns, such as variability measures and maximum Floquet multipliers, are often used to study the stability of walking. However, it is unknown if, and to what extent, these measures correlate to the probability of falling. We studied whether in a simple model of human walking, i.e., a passive dynamic walker, the probability of falling could be pred...