the need for simulation of human foot mechanism has made researchers and engineers move towards different patterns to describe this movement. in this regard, optimal solutions such as energy consumption, accuracy, etc. are of utmost importance. in this paper, efforts have been made to present a new solution by designing a fully two-dimensional six-bar mechanism with one degree of freedom so tha...

This paper proposed a new method to analyze the human walking by using a 3-wheels rollator walker instrumented with encoders and a 3D accelerometer/gyrometer. In order to develop the walking quality index and monitor the health state of elderly people at home, the walking of 23 young adults and 25 elderly people (> 69 years) with the help of the walker, are compared. Besides of the comparison o...

Body accelerations during human walking were recorded by a portable measuring device. A new method for parameterizing body accelerations and finding the pattern of walking is outlined. Two neural networks were designed to recognize each pattern and estimate the speed and incline of walking. Six subjects performed treadmill walking followed by self-paced walking on an outdoor test circuit involv...

It is well known that passive walking robot can dynamically walk down with a steady gait by only powered gravity. The dynamics of passive walking has interesting characteristics of stability and bifurcation. Since passive gait is natural motion, investigation of passive walking may lead us to understand human locomotion and design for active walking robot. In this paper, the dynamics of passive...

Gait recognition is an important research problem in the field of computer vision. The goal is to identify people by analysis of gait patterns. Because the technique can be performed remotely, it has been applied to access control, surveillance, etc. Most research is based on the assumption that people’s walking direction is perpendicular to the camera axis. In this case the silhouette can be e...

The focus of robotic bipedal walking to date has been the development of anthropomorphic gait, but the community as a whole has struggled to agree on the correct ordering of discrete events during walking. In this paper, we propose a universal temporal ordering of discrete events for bipedal walking based on motion capture data collected from a nine subject straight line walking experiment. To ...

This paper presents the meta-algorithmic approach used to realize multi-contact walking on the humanoid robot, DURUS. This systematic methodology begins by decomposing human walking into a sequence of distinct events (e.g. heel-strike, toe-strike, and toe push-off). These events are converted into an alternating sequence of domains and guards, resulting in a hybrid system model of the locomotio...