34 Understanding how animals control locomotion in different behaviors requires understanding 35 both the kinematics of leg movements and the neural activity underlying these movements. 36 Stick insect leg kinematics differ in forward and backward walking. Describing leg muscle 37 activity in these behaviors is a first step towards understanding the neuronal basis for these 38 differences. 39 4...

Recent studies have suggested that complex muscle activity during walking may be controlled using a reduced neural control strategy organized around the co-excitation of multiple muscles, or modules. Previous computer simulation studies have shown that five modules satisfy the sagittal-plane biomechanical sub-tasks of 2D walking. The present study shows that a sixth module, which contributes pr...

The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped robots because of the difficulty and complexity in the control it brings about. In this paper, a hybrid control approach aiming to integrate the main...

In this work, a magnetorheological (MR) damper based above-knee prosthesis is design and evaluated based on its performance in swing phase and in stance phase. Initially, a dynamic system model for swing phase of a prosthetic leg incorporating a single-axis knee with ideal MR damper was built. The dynamic properties of the damper are represented with Bingham parametric model. From Bingham model...

We intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls. We respectively used leg loading and unloading for the phase transitions from swingto-stance and stance-to-swing, and showed the following in our previous 3D model simulation study: (a) as a result of the phase modulations based on leg loading/unloading,...

The aims of the study were to investigate the differences in kinematics and kinetics between the dominant and nondominant leg during single-leg jumps without arm swing, and to determine the relationship between bilateral asymmetry in isokinetic knee strength and the single-leg jump. Isokinetic knee strength and single-leg jump kinematics and kinetics were measured in 11 male participants. The b...

Treadmill training has been used for improving locomotor function in children with cerebral palsy (CP), but the functional gains are relatively small, suggesting a need to improve current paradigms. The understanding of the kinematic and EMG responses to forces applied to the body of subjects during treadmill walking is crucial for improving current paradigms. The objective of this study was to...

OBJECTIVE To determine whether providing a controlled resistance versus assistance to the paretic leg at the ankle during treadmill training will improve walking function in individuals poststroke. DESIGN Repeated assessment of the same patients with parallel design and randomized controlled study between 2 groups. SETTING Research units of rehabilitation hospitals. PARTICIPANTS Patients ...