The purpose of this study was to test the effect of arm swing on modulation of soleus H-reflexes amplitudes during walking. Fifteen subjects walked (1.07 m/s) on a treadmill in 4 arm swing conditions: 1-natural arm swing (control), 2-active restraint, 3-passive restraint, and 4-passive-assisted. Tibial nerve was electrically stimulated and soleus EMG was recorded. H-reflex amplitude was signifi...

Passive dynamic walking models capture the natural dynamics of stable human-like walking. The passive compass gait (PCG) model, consisting of a point mass and two rigid legs, is among the simplest of such models. The fully passive nature of these models, however, necessitates a sloped ground to recover the energy lost during the ground collisions [1]. A variety of methods have been proposed to ...

We consider the displayed phenomena in the semi-passive dynamic walking of a torso-driven biped robot under the OGY control method as it descends inclined surfaces. The desired torso angle is the accessible control parameter. Analysis of the controlled steady semi-passive gaits are carried out mainly by means of bifurcations diagrams and Poincaré sections as the slope parameter varies. Based on...

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking’ (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll. We...

We present a qualitative approach to the dynamical control of bipedal walking that allows us to combine the benefits of passive dynamic walkers with the ability to walk on uneven terrain. We demonstrate an online control strategy, synthesizing a stable walking gait along a sequence of irregularly spaced stepping stones. The passive dynamic walking paradigm has begun to establish itself as a use...

Previous research indicates that an increased amount of step width variability in humans is associated with an unstable locomotive pattern. For example, the elderly have an increased amount of step width variability compared to their younger counterparts (Ownings & Grabiner, 2004). This notion is further supported by simulations from passive dynamic walking models. Twodimensional passive dynami...

BACKGROUND This study aimed to examine both GPS-determined and self-reported walking, cycling and passive transport in leisure time during week- and weekend-days among 10 to 12-year old children. Comparisons between GPS-determined and self-reported transport in leisure time were investigated. Second, associations between parental perceptions of the neighborhood environment and GPS-determined wa...