This work presents a method for planning sinusoidal trajectories for an actuated joint, so that the oscillation frequency follows linear profiles, like trapezoidal ones, defined by the user or by a high level planner. The planning method adds a cubic polynomial function for the last segment of the trajectory in order to reach a desired final position of the joint. We apply this planning method ...

Gait analysis has a long history and tradition, from the pioneering work of Muybridge and Inman continuing through contemporary times with the development of modern computer-based analysis systems capable of describing the kinematic, kinetic, and muscle activation patterns of gait in unusually rich detail . Over the past several decades, instrumented gait analysis has emerged as a powerful tool...

The management of gait abnormalities in persons with cerebral palsy is a challenging issue. Theoretically, gait abnormalities can be diminished by first identifying the biomechanical factors that contribute to abnormal movement and then either decreasing the muscle forces that disrupt normal movement (e.g. via muscle-tendon lengthening or botulinum toxin injections), and/or increasing the muscl...

BACKGROUND Gait analysis is the study of human locomotion. In massage therapy, this observation is part of an assessment process that informs treatment planning. Massage therapy students must apply the theory of gait assessment to simulated patients. At Humber College, the gait assessment module traditionally consists of a textbook reading and a three-hour, in-class session in which students pe...

In the biped robot’s walking process, walking parameters have important influence on its stability. In this article we based on the ZMP criterion, using the relationship between ZMP and the support area to judge the walking stability. Calculate the size of stability margin to analyze the influence of parameters’ change on stability. By programming in MATLAB and simulating in ADAMS, get the effe...

OBJECTIVE Gait disturbance is the main factor contributing to a negative impact on quality of life in patients with Huntington's disease (HD). Understanding gait features in patients with HD is essential for planning a successful gait strategy. The aim of this study was to investigate temporospatial gait parameters in patients with HD compared with healthy controls. METHODS We investigated 7 ...

In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration...

We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...

This paper deals with the problem of planning and controlling a radially symmetric sixlegged walker on an uneven terrain when a smooth time-varying body motion is required. The main difficulties lie on the planning of gaits and foot trajectories. As for the gaits, this paper discusses the forward wave gait of a variable duty factor and a variable wave direction. With the commanded body motion, ...

People with Parkinson disease (PD) who show freezing of gait also have dysfunction in cognitive domains that interact with mobility. Specifically, freezing of gait is associated with executive dysfunction involving response inhibition, divided attention or switching attention, and visuospatial function. The neural control impairments leading to freezing of gait have recently been attributed to ...