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Human bodies and movements exhibit inherent symmetry. However, an important class of everyday movements, such as walking, does not maintain symmetry at every time instance. The symmetry in these movements is a spatiotemporal glide-reflection symmetry. The ability to measure this type of symmetry will provide us opportunities for various computer-aided applications including health monitoring, rehabilitation,...
In the paper discussed results of investigation of increasing of shape passableness and adaptability to terrain for walking machines and robots with cyclic movers types. Usage of cyclic walking movers allows not to care about gait safety and stability and exclude the necessity in controlled adaptation system. By the other hand, strict trajectory of support points of cyclic type of walking mechanisms...
Bench tests are not sufficient to compare the performance of foot prostheses since only the dynamic behavior can be evaluated in the testing machines. This work supplements the bench tests described by several standards with a single patient (below knee amputee) kinematic evaluation using the concept of Roll-Over Shape to compare two low-cost prostheses against the sound limb. The Roll-Over Shape...
This paper presents a method of generating adjustable robot foot trajectories to provide forward open-loop locomotion for different gaits of a planar quadruped robot. The trajectory is described by a small set of tunable parameters that are related to the motion animals perform. This allows faster and easier adjusting of the foot trajectories for different quadruped robots. This method was tested...
Human walks, runs, dances and left behind interesting information on their actions. This paper presents how chaotic dynamics help to interpret and classify human actions. The trajectories of two legs are extracted during a motion such as walk. These trajectories of foot points are collected from an artificial human video arrangement. Each dimension of trajectory represents a time series. The phase...
A novel 2-DOF planar liner ultrasonic motor (USM) based on longitudinal and bending hybrid transducer was proposed and investigated. The USM is a piezoelectric single-oscillator, which consists of a cross orthogonal horn with a driving foot at the intersection. Longitudinal and bending vibration are excited and superimposed in stator and forms elliptical trajectory on the driving foot to cause the...
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