Gait phase is widely used for gait trajectory generation, gait control and gait evaluation on lower-limb exoskeletons. So far, a variety of methods have been developed to identify the gait phase for lower-limb exoskeletons. Angular sensors on lower-limb exoskeletons are essential for joint closed-loop controlling; however, other types of sensors, such as plantar pressure, attitude or inertial m...

Convex optimization has the advantages on solving the problems with hundreds of variables and thousands of constraints. However, traditional multi-body model based zero moment point (ZMP) formulation makes it impossible to introduce the convex optimization into humanoid gait generation because the constraint can not be transferred into convex. This paper derives a new ZMP formulation by combini...

In human gait the majority of mechanical work is generated by the ankle joint. It is commonly thought that concentric contraction of the ankle plantar flexors is the mechanism behind A2 power generation. This study investigated the relationship between the EMG activity of the ankle plantar flexor muscles and A2 power generation. The gait patterns of six healthy adults were recorded. The followi...

We describe an automated system that classifies gender by utilising a set of human gait data. The gender classification system consists of three stages: i) detection and extraction of the moving human body and its contour from image sequences; ii) extraction of human gait signature by the joint angles and body points; and iii) motion analysis and feature extraction for classifying gender in the...

The fault tolerant gait of legged robots in static walking is a gait which maintains its stability against a fault event preventing a leg from having the support state. In this paper, a fault tolerant quadruped gait is proposed for a hexapod traversing uneven terrain with forbidden regions, which do not offer viable footholds but can be stepped over. By comparing performance of straight-line mo...

With the advent of the functional electrical stimulation (FES) technology and its application as a walking aid, the need emerged to detect accurately specific phases (events) in the human gait cycle in order to time the stimulation sequences applied to the muscles [1]. In the recent literature, several sensor combinations (foot switches [2,3,4], goniometers [3,4], tilt sensors [5], acceleromete...

The paper describes a computer program that generates absolute motion variables of human gait from predetermined relative motions. Relative displacements are measured over a range of step rates during both free (self-determined step rate at different speeds) and forced (forced step rate at a constant speed) walking, converted into harmonic coefficients and stored in an array as a function of st...