In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

The aim of this study was to analyze the relation between incline angle of whole body and kinematic variables at tripping during gait. The participants consisted of healthy adult female (n=6). The three-dimensional (3D) motion analysis of posture restoring after inducing tripping of right foot at supporting phase of left foot was performed. As a result, supporting time elapsed of one stride and...

objectives: deterioration in postural control mechanisms is termed postural instability and results increased postural sway and many laboratory techniques and instruments are characterized by a wide range of neurological signs and symptoms to the medical management. thus the current study designed to assess the reliability of commonly used clinical measures of balance and determined normal valu...

PURPOSE Foot drop is a common cause of gait impairment in individuals with hemiparesis. The objective of this study was to determine the short-term and long-term effects on functional gait of a neuroprosthesis that provides functional electrical stimulation (FES) to correct footdrop. METHODS Sixteen individuals (mean age, 55.0 +/- 14.6 years) with chronic hemiparesis (mean years since insult,...

Gait has been shown to be an efficient biometric feature for human identification at a distance from a camera. However, performance of gait recognition can be affected by various problems. One of the serious problems is view change which can be caused by change of walking direction and/or change of camera viewpoint. This leads to a consequent difficulty of across-view gait recognition where pro...

Objectives: Fear of falling (FOF) is a common complication after stroke affecting gait and balance performance in individuals with a history of stroke. The current study aimed at determining the influence of the level of FOF on gait and balance performance after chronic stroke. Methods: A total of 76 persons with chronic stroke (including 41 women), who had no cognitive impairment and could wa...

Gait recognition is one of behavioral biometrics and has an advantage over the other biometrics in terms that it can be used even at a distance from a camera. Accuracies of the gait recognition, however, degrade if observation views of matching pairs of gaits are different. In order to suppress the accuracy degradation, a family of view transformation models (VTMs) for the gait recognition have...

objectives: stroke is one of the most common neurological disease and it is the main cause of physical and mental disability and staying in house. gait difficulties have high incidence in patients with stroke. so the aim of this study was to investigate the effect of gait retraining on balance, activities of daily living, quality of life and depressionin stroke patients. methods: this study was...

BACKGROUND The diabetic foot, one of the most serious complications of diabetes mellitus and a major risk factor for plantar ulceration, is determined mainly by peripheral neuropathy. Neuropathic patients exhibit decreased stability while standing as well as during dynamic conditions. A new methodology for diabetic gait pattern classification based on cluster analysis has been proposed that aim...