dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. this study is aimed to elaborate this notion in the case of three dimensional (3d) walking and extend it f...

With the advent of the functional electrical stimulation (FES) technology and its application as a walking aid, the need emerged to detect accurately specific phases (events) in the human gait cycle in order to time the stimulation sequences applied to the muscles [1]. In the recent literature, several sensor combinations (foot switches [2,3,4], goniometers [3,4], tilt sensors [5], acceleromete...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

We review definitions of generalized parallel transports in terms of Cheeger-Simons differential characters. Integration formulae are given in terms of Deligne-Beilinson cohomology classes. These representations of parallel transport can be extended to situations involving distributions as is appropriate in the context of quantized fields. LAPTH-750/99 SPhT-T04/080

The Getting Grounded Gracefully program, based on the Awareness Through Movement lessons of the Feldenkrais method, was designed to improve balance and function in older people. Fifty-five participants (mean age 75, 85% women) were randomized to an intervention (twice-weekly group classes over 8 wk) or a control group (continued with their usual activity) after being assessed at baseline and th...