Purpose: As many older people fall during dual tasks, we aimed to examine the effect of different cognitive loads on learning gait stability in younger and older adults. Methods: 10 younger (Mean±SD age: 25.91±3.42 years) and 10 older adults (Mean±SD: 66.65±4.28 years) were healthy volunteers without a history of falls. They were asked to do three tasks on a treadmill with cognitive load (none...

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...

objectives: to evaluate the reliability of head and trunk acceleration measured by mtx sensors during walking on level and irregular surfaces and to compare the differences between healthy young and old adults. methods: participants were 20 young female university students and 20 non-faller elderly women in iran, 2013. two mtx sensors were used to measure head and trunk accelerations in the ver...

Background Motor intervention plays an important role in reducing the disabilities of Down syndrome (DS). A lack of balance and postural control has created motor problems in DS patients. Therefore, the aim of this study was to examine the effect of backward walking on postural stability of DS patients. Materials and Methods Sixteen DS children with 8-10 age range were selected by convenience s...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. KHR-2 has many sensory devices analogous to human sensory organs which are particularly useful for biped walking control. First, for the biped walking motion, the motion control architecture is built a...

Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP – we call it dynamical walking – can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable t...