With growing ageing population, acquiring joint measurements with sufficient accuracy for reliable gait assessment is essential. Additionally, the quality of gait analysis relies heavily on accurate feature selection and classification. Sensor-driven and one-camera optical motion capture systems are becoming increasingly popular in the scientific literature due to their portability and cost-eff...

In this paper we address the problem of energy optimal gait generation for biped robots Using a sim pli ed robot dynamics that ignores the e ects of cen tripetal forces we obtain unconstrained optimal tra jectories generated by piecewise constant inputs We study a complete gait cycle comprising single support double support and the transition phases The energy optimal gaits for di erent step le...

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements, and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. Two kinds of cyclic walking gaits are considered...

Human gait is a spatiotemporally complex motion, where each segment and joint motion during gait is coupled across other joints. These spatiotemporal joint coupling patterns are closely associated with musculoskeletal injury mechanics, but previous tools used to examine human gait have mainly focused on univariate measures such as stride, step length, maximum range of motion, and the durations ...

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...

BACKGROUND Ankle characteristics vary in terms of gait phase and speed change. This study aimed to quantify the components of ankle characteristics, including quasi-stiffness and work in different gait phases and at various speeds. METHODS The kinetic and kinematic data of 20 healthy participants were collected during normal gait at four speeds. Stance moment-angle curves were divided into th...

[Purpose] The purpose of this study was to compare joint angles between normal children and those with spastic diplegia using three-dimensional gait analysis. [Subjects and Methods] The study subjects were eight patients with spastic diplegia and eight normal children. Three-dimensional gait analysis was used for the survey. The measured gait variables were the joints of the lower extremity in ...

This paper presents a three-phase gait recognition method that analyses the spatio-temporal shape and dynamic motion (STS-DM) characteristics of a human subject’s silhouettes to identify the subject in the presence of most of the challenging factors that affect existing gait recognition systems. In phase 1, phase-weighted magnitude spectra of the Fourier descriptor of the silhouette contours at...

In our aging society, gait disturbance becomes a major concern as it inevitably leads to limitations in mobility and to an increased risk of falls. Spontaneous walking speed normally decreases by about 1% per year from age 60 onward [1]. A population-based study has shown a 35% prevalence of gait disorders among persons over age 70 [2], and some abnormal gait features can be predictive of a pro...

The newly developed gait trainer allows wheel-chair-bound subjects the repetitive practice of a gait-like movement without overstressing therapists. The device simulates the phases of gait, supports the subjects according to their abilities, and controls the center of mass (CoM) in the vertical and horizontal directions. The patterns of sagittal lower limb joint kinematics and of muscle activat...