This paper describes a design of six-axis force sensor that mesures ground reaction force of human or humanoid robot. The key concept is parallel support mechanisms that allow large torques and forces which are caused when foot is hitting to the environment. Basic concept and design of parallel support mechanisms are denoted. Finally ground reaction force measurement system for human walking, a...

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has different actuation possibilities in the swing hip and stance ankle which produce a broad range of walking gaits. Without the need of numerical ...

In contemporary science, the analysis of human walking is extensively used. The prediction of leg motion, as well as rehabilitation, can be usable for orthosis and prosthesis programing. Our work is focused on predicting of human walking by angle-angle diagrams, also called cyclograms. The applications of cyclograms in conjunction with artificial intelligence offers wide area of applications in...

Mechanically, the most economical gait for slow bipedal locomotion requires walking as an 'inverted pendulum', with: I, an impulsive, energy-dissipating leg compression at the beginning of stance; II, a stiff-limbed vault; and III, an impulsive, powering push-off at the end of stance. The characteristic 'M'-shaped vertical ground reaction forces of walking in humans reflect this impulse-vault-i...

We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and torso balancing dynamics. To stabilize the motion, we use an optimal time-projecting controller which suggests new footstep locations. On top...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

In a walking cycle design, maximizing the upright balance should be considered in addition to the kinematic constraints, energy consumption rate must be considered. The purpose of this study is to find the optimal step length obtained for each person according to the physical features. In this research, in order to minimize energy consumption rate by considering maximum balance two cost functio...

This paper presents a study on identifying different individuals using accelerometer data from a smartphone presented on their walking patterns. The identifier algorithm was trained and evaluated in an experiment with twenty human subjects including 12 males and 8 females in real-world conditions. Various classifiers were tested using descriptive statistical features. Our model recognizes patte...

When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing on yaw torque compensation. However, the issue of humanoid robot motion design that can make the movements of the rob...

The difference between adjacent frames of human walking contains useful information for human gait identification. Based on the previous idea a silhouettes difference based human gait recognition method named as average gait differential image (AGDI) is proposed in this paper. The AGDI is generated by the accumulation of the silhouettes difference between adjacent frames. The advantage of this ...