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Achieving energy efficiency remains an important goal in legged robot running. This paper presents a novel offline method to generate globally efficient gaits for a point-foot articulated hopping robot. Previous gait generators found in the literature do not reach a global optimum, since takeoff and touch-down (transition) states are pre-specified. In this work, an optimization procedure produces...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
Lesions of the central nervous system often lead to walking impairments. Primary rehabilitation aims at the improvement of the gait capacity by application of task oriented training regimes utilizing the inherent capability of neural networks for reorganization. However, a sufficient training intensity for enhancement of this neuroplasticity can only be achieved during the inpatient phase, which -...
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