this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

Objectives: There exists no study concerning gait pattern while engaging in dual-task activities on different sizes of mobile devices. The present study aimed to compare gait patterns during normal walking, walking with smartphone use, and walking with tablet use.  Methods: Seventeen healthy female participants with an age range of 19-24 years (mean±SD age: 20.29±1.61 years, weight: 49.82±4.46...

the objective of this study was to determine the effects of different heel heights on selected gait parameters in a sample of young nigerian females. a purposive sample of eighty apparently healthy undergraduates of nnamdi azikiwe university, nnewi campus participated in the study. their mean age, height, and weight were 21.98± 1.83 years, 1.65±0.06 meters, 59.50±9.34 kilograms respectively. an...

Objectives: The Microsoft KinectTM is reported to have compelling potentials for gait analysis in medicine; however, there are few data on its comparison with observational gait analysis (OGA). This study compared the Microsoft KinectTM and the OGA in the assessment of gait parameters of apparently healthy adults. Methods: Ninety-seven apparently healthy young male adults participated in this ...

In a walking cycle design, maximizing the upright balance should be considered in addition to the kinematic constraints, energy consumption rate must be considered. The purpose of this study is to find the optimal step length obtained for each person according to the physical features. In this research, in order to minimize energy consumption rate by considering maximum balance two cost functio...

Background. There have been many studies on partial weight support walking training. However, most studies have been performed in treadmill settings, not in actual walking environments. Objectives. This study aimed to investigate the effect of partial weight support ground walking training on the temporal and spatial gait parameters of chronic stroke patients. Methods. This study was designed...

The purpose of this study was to compare the effects of dynamic trunk exercises and isometric trunk exercises on gait in elderly people. [Subjects] This study randomly allocated 20 elderly people to an isometric trunk exercise group (n=10) and a dynamic trunk exercise group (n=10). The exercises were performed for 30 minutes three times a week for 12 weeks. Gait speed, stride length, cadence, a...

objectives: this study was designed to evaluate the effectiveness of a modified floor reaction ankle foot orthosis (frafo) design on gait performance in children with cerebral palsy. methods: eight children with cerebral palsy wore a modified frafo bilaterally for six weeks. motion analysis was used to assess the immediate effectiveness of the orthosis on improving gait and also following six w...