Human walking is a complex task which includes hundreds of muscles, bones and joints working together to deliver harmonic movements with the need of finding equilibrium between moving forward and maintaining stability. Many different computational approaches have been used to explain human walking mechanisms, from pendular model to fractal approaches. A new perspective can be gained from using ...

BACKGROUND Comprehensive analysis of the inherent laws and the biomechanic principles of human walking with load carriage and building kinematics, and kinematics model of human walking with load carriage, are very meaningful for the development of devices and apparatus that are related to human walking with load carriage, such as a lower limb exoskeleton. OBJECTIVE The gait experiment of huma...

Bridging contemporary techniques in bio-inspired control affords a unique perspective into human locomotion where the interplay between sagittal and coronal dynamics is understood and exploited to simplify control design. Functional Routhian reduction is particularly useful on bipeds as it decouples these dynamics, allowing for control design on a sagittallyrestricted model while providing coro...

Finding a relationship between foot pressure and leg muscle activity during human walking is valuable as the data could be useful in developing a model of human walking which potentially can be used in spinal injury rehabilitation research. A connection could determine which muscles need to be stimulated using electrical muscle stimulation (EMS) to re-train a correct walking pattern in an injur...

P1. Simonsen EB, Dyhre-Poulsen P. Amplitude of the soleus H reflex during walking and running. Journal of Physiology 1999;515:929-939. P2. Simonsen EB, Dyhre-Poulsen P, Alkjaer T, Aagaard P, Magnusson SP. Inter-individual differences in H reflex modulation during normal walking. Experimental Brain Research, 2002;142(1):108-115. P3. Simonsen EB, Dyhre-Poulsen P. Test-retest reliability of the so...

This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. KHR-2 has many sensory devices analogous to human sensory organs which are particularly useful for biped walking control. First, for the biped walking motion, the motion control architecture is built a...

The bipedal structure is one of the most versatile ones for the employment of walking robots. The biped robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacle etc, where a human lives. However, the dynamics involved are highly nonlinear, complex and unstable. So it is difficult to generate human-like walking motion. To realiz...

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid object together. Experimental data from two persons walking together, one in front of the other, while carrying a stretcher-like object is presen...

This paper presents a human performance evaluation of a low-cost enactive locomotion interface, the walking-PAD, that provides users with the ability to engage in a life-like walking experience in virtual environments (VEs) by stepping in place. Stepping actions are performed on top of a platform with embedded grid of switch sensors that detect footfalls pressure. Based on data received from se...

This paper presents a mobile robot navigation method based on human walking trajectory in intelligent space. Unlike the traditional navigation methods, the proposed method enables the robot to walk a meaningful path, which reflects human activity patterns in daily life. Human walking trajectories are extracted using multiple distributed vision cameras in intelligent space. To group trajectories...