The purpose of our study was to evaluate all contact pressures between the molded ankle-foot orthosis (MAFO) and the subject during activities of daily living. The MAFOs studied are used clinically to reduce plantar contact pressures associated with foot ulcers in adult neuropathic diabetic subjects, alleviating abnormal pressures by redistributing them to low-pressure plantar regions. While ef...

Biologically inspired robots that are used for research of the animal and the technological realm become more and more refined. Control schemes for sensor-less and sensorized robots were developed, are able to handle torque control and sometimes even adapt to a changing task set. Further mechanics and electronics have evolved and take part in more reliable and robust bio-inspired robots. Robots...

Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measu...

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances — a primary use-case for legs vs other forms of locomotion — is a largely open problem. New advancements in control and perception have enabled bipeds to walk on flat and uneven indoor environments. But tasks that require reliable contact with unstructured world surfaces, for example walking on nat...

The biomechanical mechanisms that link foot structure to injuries of the musculoskeletal system during gait are not well understood. This study had two parts. The purpose of part one was to determine the relation between clinical rearfoot and forefoot angles and foot angles as they make contact with the ground. The purpose of part two was to determine the effects of large vs. moderate values of...

The focus of this paper is the problem of foot rotation in biped robots during the single support phase. Foot rotation is an indication of postural instability and should be carefully treated in a dynamically stable walk and avoided altogether in a statically stable walk. We introduce the foot rotation indicator (FRI) point which is a point on the foot/ground contact surface where the net groun...

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact d...

there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...

Accurate measurement of ground reaction forces under discrete areas of the foot is important in the development of more advanced foot models, which can improve our understanding of foot and ankle function. To overcome current equipment limitations, a few investigators have proposed combining a pressure mat with a single force platform and using a proportionality assumption to estimate subarea s...