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A caster walker is a supporting frame with casters and wheels under its legs. This tool is regularly utilized as a life support tool or a walking rehabilitation tool in hospitals, nursing homes and individual residences. This device easily moves thanks to its wheels and casters. However falling accidents often happen when it moves without users. The falling accident is very serious problem and one...
This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
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