Objectives: Although for those spinal cord injury (SCI) patients with paralysis of the legs but not at arms, the primary means of mobility post injury is the manual wheelchair, there are many physiological and psychological advantages to standing and walking, such as improvement in respiratory function, lower limb weight bearing and preventing osteoporosis, pressure sores prevention etc. High m...

Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation robots is designed rigid contacts and does not take into account physical parameters terrain. That said, this letter answers following questions: How why affect robots? To do so, we utilized estimator that fuses IMU measurements with leg odometry contact assumptions. We experi...

Optogenetic analysis has revealed the existence of multiple rhythm-generating neural networks that drive leg motoneuron pools in the lumbar spinal cord of rodents. These findings extend the concept of a modular neural network organization for locomotion from invertebrates and lower vertebrates to mammals.

In this paper we describe a controller for 4-legged robot locomotion implemented on a 4-legged walking machine. This controller uses a ring of coupled nonlinear oscillators. It is very e cient, needing no software and only a small number of components to guarantee coordination between the leg movements leading to walking. We explain how inter-leg coordination is achieved and we show data which ...

Legged locomotion results from a combination of central pattern generating network (CPG) activity and intralimb and interlimb sensory feedback. Data on the neural basis of interlimb coordination are very limited. We investigated here the influence of stepping in one leg on the activities of neighboring-leg thorax-coxa (TC) joint CPGs in the stick insect (Carausius morosus). We used a new approa...

Walking is a complex rhythmic locomotor behavior generated by sequential and periodical contraction of muscles essential for coordinated control of movements of legs and leg joints. Studies of walking in vertebrates and invertebrates have revealed that premotor neural circuitry generates a basic rhythmic pattern that is sculpted by sensory feedback and ultimately controls the amplitude and phas...

This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structure and placement, and actuators that mimic muscles. A test leg is also described that shows how sensory feedback can serve as the basis of the control system for the robot in order for it to achieve the degree of adapt...

We studied the effect of vibratory stimulation of different leg muscles [bilateral quadriceps (Q), hamstring (HS) muscles, triceps surae (TS), and tibialis anterior (TA)] in seven normal subjects during 1) quiet standing, 2) stepping in place movements, and 3) walking on the treadmill. The experiments were performed in a dimly illuminated room, and the subjects were given the instruction not to...

BACKGROUND Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. OBJECTIVE The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modeli...

This paper describes the development of a legged mobile robot. Legged locomotion has several advantages over wheels. The major advantage is the ability to traverse varied surfaces. However, legs must carry the full weight of the robot and this places great demands on the leg actuators, requiring a light robot structure. In most cases, the actuators contribute a large proportion of the weight, a...