In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of h...

Wide variety of timings and techniques has been used based on the housing, production, availability of requirements etc. This current study was done for a morphologic evaluation of the cow's digit in different trimming times. A dairy herd with 2200 milking cow, free stalls barns, average daily production of 36 liters per cow was selected. Forty cows were assigned to four groups based on hoof tr...

A technique of distributed surface electrical stimulation of the foot sole was used to elicit the withdrawal reflex in ankle flexors and extensors during gait. Tibialis anterior and soleus reflexes were recorded from 8 subjects during treadmill walking. The largest responses in tibialis anterior were evoked at the arch of the foot, while in soleus the largest responses were elicited at the heel...

Human bipedal locomotion is characterized by a habitual heel-strike (HS) plantigrade gait, yet the significance of walking foot-posture is not well understood. To date, researchers have not fully investigated the costs of non-heel-strike (NHS) walking. Therefore, we examined walking speed, walk-to-run transition speed, estimated locomotor costs (lower limb muscle volume activated during walking...

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. We design walking reference trajectories with dou...

This paper describes a simple approach to the fatigue testing of prosthetic feet. A fatigue testing machine for prosthetic feet was designed as part of the programme to develop an energy storing prosthetic foot (ESPF). The fatigue tester does not simulate the loading pattern on the foot during normal walking. However, cyclic vertical loads are applied to the heel and forefoot during heel-strike...

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. We design walking reference trajectories with dou...

BACKGROUND In this study, we attempted to verify the hypothesis that further improvements in volitional movement of patients with a spinal cord injury would diminish and ultimately suppress the segmental responses, while enhancing the supraspinal inhibitory influence. METHODS Eleven patients with an incomplete spinal cord injury and partial preservation of motor function (ASIS grades C and D)...

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are biased towards a straight leg configuration by projecting leg joint angle objectives into the null-s...