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...

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...

Motor control can be achieved in the absence of awareness, even when performed intentionally. The aim of this study was to understand the mechanisms of the sudden awareness of our own movement. This was studied in locomotion because it is an automatic behavior which can be intentionally modulated. Subjects walked continuously with the instruction to maintain either a constant walking speed (com...

[Purpose] The aim of this study was to clarify the effects of an automated stride assistance device on gait parameters and energy cost during walking performed by healthy middle-aged and young females. [Subjects and Methods] Ten middle-aged females and 10 young females were recruited as case and control participants, respectively. The participants walked for 3 minutes continuously under two dif...

OBJECTIVE To examine the frequency domain characteristics of the ground reaction forces of young and elderly females during free walking. DESIGN Independent t-tests were used to examine the frequency content of all three components of the ground reaction force. BACKGROUND Frequency domain analysis has the potential to assist in identifying changes in gait that may be masked in the time doma...

People prefer gaits that minimize their energetic cost. Research focused on step frequency selection suggests that a fast predictive process and a slower optimization process underlie this energy optimization. Our purpose in this study was to test whether the mechanisms controlling step frequency selection are used more generally to select one of the most relevant characteristics of walking - p...