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Biped locomotion created by controlling methods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical...
Gait monitoring technology has recently become of increasing interest in the biometric as well as biomedical fields for observation of the human movement, especially walking that can refer to physical status of individuals. For this objective, data shoes own many advantages such as cheaper cost and rich of direct information from the walking. In this paper, we have developed a data shoe system for...
The purpose of this paper was to extend a landing force control method on the flat terrain proposed by Y.D Kim etc. [1] to absorb the impulsive ground reaction force for biped robot stable walking on the slope. Firstly, the swing foot and the terrain are modeled as two three-ports network systems that are connected respectively, and exchange energy with each other. Secondly, the impulsive impact of...
In this paper, we analyze Vertical Ground Reaction Force (VGRF) signals recorded from normal subjects as well as from subjects attained with Parkinson's disease (PD). The aim of this study is to identify abnormal gait patterns in order to detect patients who are potentially attained with PD. This is done by extracting various significant features from sensors located at 16 different positions on the...
Monitoring the movements of the ankle may be highly relevant for applications such as sport injury prevention, rehabilitation, and gait analysis. This paper explores the feasibility of employing force myography (FMG) on the distal end of the lower leg to detect ankle position. FMG signals corresponding to 7 different ankle positions were recorded from three healthy volunteers. Using a linear discriminant...
The goal of this research is to develop a gait monitoring system for patients with Parkinson's disease (PD) using wearable sensors. To achieve this objective, the first step of our work is to identify the most significant features that would best distinguish between subjects with PD and healthy control subjects. Here, various gait features were extracted using data obtained from an online database...
The lower limb exoskeleton can help the paralyzed walk again, also can be used to reduce the body weight. it is necessary to promote the anthropomorphic and man-machine matching of exoskeleton. The man-machine matching is divided into two, one is the structure matching and the other is the driven matching involving the biomechanics of the muscle. This article puts forward the design rule of exoskeleton...
Passive compliant prosthetic ankles have the advantage of energy saving, light weight, simple structure and competitive cost compared to powered devices. Despite of the variety of commercial products, these designs do not provide adequate degree-of-freedom during amputees' movement. It hampers them from walking comfortably especially on undulating and rough terrains. This paper presents a novel design...
The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both...
In this paper, we propose a real-time control method for skating motion of humanoid robots. There are three problems for skating motion: (1) keeping dynamic balance, (2) adequately controlling foot force to suppress slipping at the foot, (3) controlling full-body motion in real-time. For solving these problems, we propose the Skating Motion Generator and the Skating Motion Stabilizer. In the Skating...
In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot...
We propose a human mimetic foot structure for musculoskeletal humanoids. We designed the foot structure by inspiring from human foot abilities of the multi-bone connected structure for flexibility and the distributed force sensor system. The foot has multi-DOFs structure including toe DOF that is composed of fingers. The distributed force sensing system is composed of 12 an-axis force sensors. In...
Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired...
While numerous gaits in the horizontal regime (e.g. walking or running) have been defined for legged systems on level ground, no dynamically grounded definitions have been developed for dynamic vertical running. Gaits have clear implications to robotic control strategy, efficiency, and stability. However, while several climbing robotic systems have been described as achieving ‘running’, the question...
Extending leg length in a biped entity may improve some gait factors such as speed, worsening some others. This study is undertaken to better understand the kinetic and kinematic aspects of human gait following changes in the geometry of lower extremities. An artificial structure is built to be attached and fixed to one's leg. Using a two-sensor motion capture system practical walking data with the...
Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis...
The system was developed for remote care-taking applications which could be incorporated for patients. This system has utilised as a sensor integrated shoe and a waist belt. The foot pressures of the foot sole vital points are being measured along with the additional contribution from inertial measurement units. The measured data is being transmitted to a remote Internet of Thing (IOT) for further...
In this paper the design of a rig capable to simulate the dynamic response of an energy storing and returning composite prosthetic foot during amputee running is considered. It has been assumed that the amputee/prosthesis system can be modelled as a spring/mass system. Therefore the rig has been designed to allow the applied mass, input force and foot contact point of various feet designs to be varied...
In this paper the validation of a rig capable of simulating the dynamic response of an energy storing and returning composite prosthetic foot during amputee running is considered. It is shown that the rig can simulate the running action of an amputee runner and return similar ground contact time. It has also been shown that if a small input force is applied in a timed and sympathetic manner to the...
This paper proposes a multi-sensor based method to predict the falling of the humanoid in a reliable and agile manner. The fusion of multi-sensors such as an inertial measurement unit and foot pressure sensors are considered, which can be regarded as human's vestibular and proprioception. We define a set of feature-based fall indicator variables (FIVs) with manually extracted thresholds for four major...
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