Gait variability is suggested to be a quantifiable measure to evaluate mobility impairments. However, it is unknown whether gait variability could be used as a marker of impaired walking performance post-stroke. Therefore, the purpose of this study was to determine whether gait variability measures could be used as walking performance measures post-stroke. Hemiparetic variability was compared t...

This paper presents the gait generation and mechanical design of a humanoid robot based on a limit cycle walking method-Virtual Slope Control. This method is inspired by Passive Dynamic Walking. By shortening the swing leg, the robot walking on level ground can be considered as on a virtual slope. Parallel double crank mechanisms and elastic feet are introduced to the 5 DoF robot leg, to make t...

The constraints to maximum walking speed and the underlying cause of the walk-run transition remains controversial. However, the motions of the body and legs can be reduced to a few mechanical principles, which, if valid, impose simple physics-based limits to walking speed. Bipedal walking may be viewed as a vaulting gait, with the centre of mass (CoM) passing over a stiff stance leg (an 'inver...

Legged robots are meant to traverse unstructured environments. In some cases, high steps (level changes) can pose significant challenges. These terrain features can be successfully addressed by whole body optimization when a map of the environment is available. Despite recent advances in this field [8], optimal planning is still far from being realized in real time, due to the complexity of the...

Appropriate coordination of stepping in adjacent legs is crucial for stable walking. Several leg coordination rules have been derived from behavioural experiments on walking insects, some of which also apply to arthropods with more than six legs and to four-legged walking vertebrates. Three of these rules affect the timing of stance-swing transition [rules 1 to 3 (sensu Cruse)]. They can give r...

This study investigated the influence of gait speed on the control of mediolateral dynamic stability during gait initiation. Thirteen healthy young adults initiated gait at three self-selected speeds: Slow, Normal and Fast. The results indicated that the duration of anticipatory postural adjustments (APA) decreased from Slow to Fast, i.e. the time allocated to propel the centre of mass (COM) to...

Leg swing in human walking has historically been viewed as a passive motion with little metabolic cost. Recent estimates of leg swing costs are equivocal, covering a range from 10 to 33 per cent of the net cost of walking. There has also been a debate as to whether the periods of double-limb support during the stance phase dominate the cost of walking. Part of this uncertainty is because of our...

We present velocity-based stability margins for fast bipedal walking that are sufficient conditions for stability, allow comparison between different walking algorithms, are measurable and computable, and are meaningful. While not completely necessary conditions, they are tighter necessary conditions than several previously proposed stability margins. The stability margins we present take into ...

Natural dynamics can be exploited in the control of bipedal walking robots: the swing leg can swing passively; a kneecap can prevent the leg from inverting; and a compliant ankle can naturally transfer the center of pressure along the foot and help in toe off. These mechanisms simplify control and result in motion that is smooth and natural looking. We describe a computationally efficient algor...