Objectives Gait recovery is an important goal in stroke patients. Several studies have sought to uncover relationships between specific brain lesions and the recovery of gait, but the effects of specific brain lesions on gait remain unclear. Thus, we investigated the effects of stroke lesions on gait recovery in stroke patients. Materials and Methods In total, 30 subjects with stroke were ass...

This paper presents work on the gait and gait transition analysis for a novel mobile robot that uses two actuated spoke wheels. Gait transitions, known as acyclic feed forward patterns, allow the robot to switch from one type of gait to another during walking and turning. The mobile robot IMPASS (Intelligent Mobility Platform with Active Spoke System) uses a unique mobility concept for locomoti...

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in ...

This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligatorinspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabricated on a CO2 laser cutting machine. The 3D leg d...

A virtual prototype design and corresponding mathematical model analysis is presented. To obtain a stable and smooth synthesized gait, the zero-moment-point (ZMP) theory and three spline interpolation method have been combined and applied. A novel data-driven model free control strategy, called Time-Delay Estimation based intelligent PID (TDEiPID) combined with Equivalent Sliding Mode Control (...

Introduction. Cancer, after cardiovascular disease, is the second most common cause of death both in Poland anIntroduction. In children with cerebral palsy, gait and balance assessment allows for an objective gait pattern evaluation as well as for therapy planning and assessment. It was hypothesised that asymmetry of the lower limbs load in a standing position causes asymmetry of spatiotemporal...

Sensorimotor control theories propose that the central nervous system exploits expected sensory consequences generated by motor commands for movement planning, as well as online sensory feedback for comparison with expected sensory feedback for monitoring and correcting, if needed, ongoing motor output. In our study, we tested this theoretical framework by quantifying the functional role of exp...

Locomotion and navigation of a surface walking/climbing robot – Planar Walker, based on a novel planar 8-bar mechanism are investigated. The robot moves on a surface through decoupled transverse gaits and turning gaits with finite lengths and finite rotation angles. Motions of the gaits are modeled using planar rigid motion group SE(2). Three point-to-point navigation methods are developed for ...

Research on biped humanoid robots is currently one of the most exciting topics in the field of robotics and there are many ongoing projects. Because the walking of humanoid robot is complex dynamics inverse problem the pattern generation and dynamic simulation are extensive discussed. Many different models are proposed to simple the calculation. Many researches about the walking stability and p...

Abstract In this paper, the kinematics analysis and gait planning of quadruped walking mechanism are carried out. Firstly, a simplified four-legged model is established; then analyzed; On basis, studied, forward motion (four step movement) analyzed, corresponding leg swing order each calculated; Finally, ADAMS software used to simulate analyze planning.