Human biped locomotion is an ultimate style of biological movement that is a highly evolved function. Biped locomotion by robots is a dream to be attained by the most highly evolved or integrated technology, and research on this has a history of over 30 years. Many methods of generating gaits have been proposed. There has been a tendency to reduce the complicated dynamics of a walking robot to ...

Here, we present a simple stiff-limbed passive model of quadrupedal walking, compare mechanics predicted from the model with those observed from forceplate measurements of walking dogs and consider the implications of deviation from model predictions, especially with reference to collision mechanics. The model is based on the geometry of a 4-bar linkage consisting of a stiff hindleg, back, fore...

BACKGROUND AND PURPOSE Robotic devices that provide passive guidance and stabilization of the legs and trunk during treadmill stepping may increase the delivery of locomotor training to subjects with neurological injury. Lower-extremity guidance also may reduce voluntary muscle activity as compared with compliant assistance provided by therapists. The purpose of this study was to investigate di...

The purpose of this study is to extend the three-dimensional (3-D) passive dynamic biped walker to a 3-D dynamic biped walker, i.e., a walker that can walk on a horizontal surface based on a passive dynamic walking. A new prototype of 3-D biped walker called RW04, which has telescopic knee joints, was developed and its ability for walking was validated through some experiments. A sinusoidal osc...

Gait variability has been correlated with fall risk in the elderly. Older adults typically display greater variability than young adults, but the cause of this increase is unclear. Slower walking leads to greater variability in young adults, but slow speeds are also typical in older adults. Increased variability in older adults may result from slower walking speeds, or possibly from other facto...

Exoskeletons can be utilized for rehabilitation purposes as well as for assistance and augmentation of motion of patients with disabilities, workers, the elderly and even healthy people. Compared to powered solutions, unpowered passive exoskeletons have been shown to have significantly higher chances of end user acceptance, because of simpler design, no complex electronics and potentially lower...

Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (rol...

During self-motion, the world normally appears stationary. In part, this may be due to reductions in visual motion signals during self-motion. In 8 experiments, the authors used magnitude estimation to characterize changes in visual speed perception as a result of biomechanical self-motion alone (treadmill walking), physical translation alone (passive transport), and both biomechanical self-mot...

During self-motion, the world normally appears stationary. In part, this may be due to reductions in visual motion signals during self-motion. In eight experiments using magnitude estimation to characterize changes in visual speed perception as a result of biomechanical self-motion alone (treadmill walking), physical translation alone (passive transport) and both biomechanical self-motion and p...