The problem under study is the moment based parameterization of a series of gradually evolving cyclograms The cyclograms correspond to natural humanwalk on a variable inclination treadmill with slope varying from to at each interval Parameterization of cyclograms has several useful applications including the diagnosis of pathological gait For this study we consider the planar hip angle knee ang...

It was shown in Spong [1999b] that the passive gaits for a planar 2DOF biped walking on a shallow slope (Goswami et al. [1995]) can be made slope invariant by a passivity based control that compensates only the gravitational torques acting on the biped. In this paper we extend these results to the general case of a 3-D, n-DOF robot. We show that if there exists a passive walking gait, i.e., if ...

The purpose of this study was to determine the effect of cross-slope on gait dynamics. Ten young adult males walked barefoot along an inclinable walkway. Ground reaction forces (GRFs), lower-limb joint kinematics, global pelvis orientation, functional leg-length, and joint reaction moments (JRMs) were measured. Statistical analyses revealed differences across limbs (up-slope [US] and down-slope...

Slip-induced falls are among the most common cause of major occupational injuries in the UK as well as being a major public health concern in the elderly population. This study aimed to determine the optimal fall indicators for fall detection models which could be used to reduce the detrimental consequences of falls. A total of 264 kinematic variables covering three-dimensional full body model ...

We address performance limits and dynamic behaviors of the two-dimensional passivedynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical eÆciency of gait, and point to ways of improving eÆciency. We analyze several kneed and straight-legged walker designs, with round feet and point-feet. We present some necessary conditions o...