OBJECTIVE There is increasing evidence that robot-assisted treadmill training might be useful for gait rehabilitation after stroke. The aim of this study was to evaluate the muscle activity of stroke patients during robot-assisted walking and overground walking, and of a group of able-bodied subjects during overground walking. DESIGN Case-control observational study. SUBJECTS Ten stroke sub...

This paper presents the gait generation and mechanical design of a humanoid robot based on a limit cycle walking method-Virtual Slope Control. This method is inspired by Passive Dynamic Walking. By shortening the swing leg, the robot walking on level ground can be considered as on a virtual slope. Parallel double crank mechanisms and elastic feet are introduced to the 5 DoF robot leg, to make t...

Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...

Bipedal walking is a difficult task due to its intrinsic instability and developing successful controller architectures for this mode of locomotion has proved substantially more difficult than for other types of walking (Beer et al. 1998). This type of walking has been tackled from different directions that all of them have been divided to two major approaches of static walking (Kato et al. 197...

The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xz-plane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined co...

The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...

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...

With the increasing number of people who have problems with their walking, a new type of gait rehabilitation training robot has been put forward and designed. In order to meet the requirements of the gait rehabilitation training, the whole mechanical structure and control system have been designed, and the model machine for gait rehabilitation training robot has been made. Using the human gait ...

Bipedal robot walking presents challenges in design, control, balance and practicality. No one element can exclusively define a robust walking platform. With a combination of elements, a robust walking platform may be defined. In this paper, we present the development of a bipedal robot whose easily modifiable gait allows us to study gait performance and bipedal robot balance issues. Robot desi...

Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG) can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point ...