dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. this study is aimed to elaborate this notion in the case of three dimensional (3d) walking and extend it f...

We tested the hypothesis that common principles govern the production of the locomotor patterns for both straight-ahead and curved walking. Whole body movement recordings showed that continuous curved walking implies substantial, limb-specific changes in numerous gait descriptors. Principal component analysis (PCA) was used to uncover the spatiotemporal structure of coordination among lower lim...

OBJECTIVE Curved walking requires complex adaptations, including shift of body weight to counteract the ensuing centrifugal force, and the production of strides of different length between legs. We hypothesized that gait capacities would be more stressed in hemiparetic patients than in healthy subjects when walking along curved, compared with straight, trajectories. METHODS Twenty chronic, st...

Research on biped locomotion has focused on sagittal plane walking in which the stepping path is a straight line. Because a walking path is often curved in a three dimensional environment, a 3D locomotion subsystem is required to provide general walking animation. In building a 3D locomotion subsystem, we tried to utilize pre-existing straight path (2D) systems. The movement of the center of th...

20 Reduced flexibility over the neuromotor control of paretic leg muscles may impact 21 the extent to which individuals post-stroke modulate their muscle activity patterns to 22 walk along curved paths. The purpose of this study was to compare lower limb 23 movements and neuromuscular strategies in the paretic leg of individuals with stroke to 24 age-matched controls during curved walking. Part...

People are relatively insensitive to the curvature of their walking trajectory [Kallie et al., 2007, JEP:HPP, 33(1), 183-200]. This is exploited in the 'Redirected Walking' technique which is used in Virtual Reality to extend the borders of Virtual Environments (VE) beyond the size of the physical walking area [Steinicke et al., 2009, Journal of Virtual Reality and Broadcasting, 6(2009)]. One m...

OBJECTIVE To determine whether the cognitive function contribution to straight- and curved-path walking differs for older adults. DESIGN Cross-sectional observational study. SETTING Ambulatory clinical research training center. PARTICIPANTS People (N=106) aged 65 to 92 years, able to walk household distances independently with or without an assistive device, and who scored 24 or greater o...

Reduced flexibility over the neuromotor control of paretic leg muscles may impact the extent to which individuals post-stroke modulate their muscle activity patterns to walk along curved paths. The purpose of this study was to compare lower-limb movements and neuromuscular strategies in the paretic leg of individuals with stroke with age-matched controls during curved walking. Participants walk...