This paper presents and experimentally implements three different adaptive robust controllers as the first steps toward using model-based for transfemoral prostheses. The goal of this is to translate these control methods robotic domain, from bipedal walking prosthesis walking, including a rigorous stability analysis. human/prosthesis system modeled two-domain hybrid asymmetric system. An optim...

The aim of this study was to examine the effect of changes in speed and incline slope on plantar pressure distribution of the foot during treadmill jogging. Plantar pressure parameters were measured with the Pedar-X system in twenty healthy girls (mean age of 20.7 years, mean height of 1.60m, and a mean weight of 53.35kg). Because variations in walking speed or slope can significantly change th...

Humans and other animals exchange gravitational potential energy (GPE) and kinetic energy (KE) of the center of mass during level walking. How effective is this energy exchange during downhill and uphill walking? Based on previous reports and our own reasoning, we expected that during downhill walking, the possibility for mechanical energy exchange would be enhanced and during uphill walking, t...

Advanced prosthetic foot designs often incorporate mechanisms that adapt to terrain changes in real-time to improve mobility. Early identification of terrain (e.g., cross-slopes) is critical to appropriate adaptation. This study suggests that a simple classifier based on linear discriminant analysis can accurately predict a cross-slope encountered (0°, -15°, 15°) using measurements from the res...

In order to realize a welfare community, where elderly and disabled people can comfortably live a normal life, it is essential to develop various devices and systems, using cutting-edge science and technology. In particular, there is an urgent need for the development of a human-friendly robotic system that is flexible and adaptable enough to meet the needs of our aging population, and the need...

This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic programming. The proposed approach realizes the...

Irrespective of achieving certain success in comprehending Passive DynamicWalking (PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot of questions still need to be answered. This paper provides an overview of the previous literature on the chaotic behavior of passive dynamic biped robots. A review of a broad spectrum of chaotic phenomena found in PDW in the...

Presently, for consolidation of rocky slopes, heavy duty industrial equipment is employed for drilling up to 20 m. depth holes. However, it is a very complex task and many working sites are of very difficult reach. ROBOCLIMBER is a quadruped walking and climbing robot whose development is funded by the EC under a Growth/Craft RTD project, where the objective is to develop a tele-operated servic...