Active Leg Compliance for Passive Walking
نویسنده
چکیده
Previous research has shown that passive (or ballistic) walking is an energetic efficient and mechanical cheap way of walking. Therefore ballistic walking would be suitable for apphcauons in rehabilitation technology and autonomous robots. Successful application would require a smooth hip trajectory in ordet to protect respectively the patient or electronics against large velocity changes due to ground collisions. It is shown that an actively adjustable stance leg compliance in combination with a viscous damping can result in smaller hip velocity changes.
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