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Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 233-241 doi: 10.1007/s11465-015-0343-0

Abstract:

Gait is the collective term for the two types of bipedal locomotion, walking and running.First of all, we apply it in the normal gait and then in the permanent hemiparetic gait.and kinetics of gait., especially hemiparetic gait.the significant characteristics of normal gait.

Keywords： bipedal gait     biomechanics     dynamic walking     gait model     human gait     hemiparetic human gait    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: robot, and propose a two-layer control strategy.unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive controlof the target gait so that the state trajectory can smoothly converge to the target gait.Compared with previous works, the transition controller is parameterized and its control parameters areFinally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control    

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Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 181-192 doi: 10.1007/s11465-019-0559-5

Abstract: with springy legs, a successful jump usually requires both suitable elastic parts and well-designed controlAn intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitchExperiments are conducted to validate the effectiveness of the proposed control framework.

Keywords： hopping and bounding gait     compliant mechanism     compliant contact     balance control strategy     legged locomotioncontrol     quadruped robot    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofactive compliance control change with the terrain.

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 242-254 doi: 10.1007/s11465-015-0350-1

Abstract:

An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapyBoth AOs will be used to complete a robotic system that improves gait rehabilitation.selection, the biomechanical considerations during the AO design, the finite element method, and a controlHowever, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves

Keywords： active orthosis     gait rehabilitation     electroencephalography     surface electromyography    

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Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral Research Articles

Donghai WANG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6,   Pages 920-936 doi: 10.1631/FITEE.2000465

Abstract:

This paper presents a gait-synchronization system to help potential unilateral knee-injured peopleThe gait-synchronization system is integrated with a designed to sense the motion/gait of the healthytrajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gaitwith the healthy gait by a half-cycle delay.The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined

Keywords： Sensor-guided     Lower-extremity-exoskeleton     Body sensor network     Gait synchronization     Weight-support    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract: Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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Recognition of walking environments and gait period by surface electromyography Special Feature on Intelligent Robats

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 342-352 doi: 10.1631/FITEE.1800601

Abstract:

Recognizing and predicting the movement and intention of the wearer in control of an exoskeleton robotused to identify intended motion before the actual movement, and the delay time can be shortened via controlexoskeleton to help in walking, the aim of this work is to distinguish the walking environment and gaitof this paper is to show progress with the use of sEMG when recognizing walking environments and the gaitThese results suggest that the sEMG signal can be effectively used to control an exoskeleton robot.

Keywords： Walking environment     Gait Period     Surface electromyography (sEMG)     Exoskeleton    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: We also introduce a new gait for humanoid robot locomotion to improve stability performance, called theSki-Type gait.We analyze the stability performance of this gait and use the stability margin to choose between twoNext, we perform a force/torque analysis for the redundant closed-chain system in the Ski-Type gait,Finally, we compare our experimental results with biped walking to validate the Ski-Type gait.

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Genomic regions under selection for important traits in domestic horse breeds

Xuexue LIU, Yuehui MA, Lin JIANG

Frontiers of Agricultural Science and Engineering 2017, Volume 4, Issue 3,   Pages 289-294 doi: 10.15302/J-FASE-2017155

Abstract: targeted by positive selection for four important aspects of horses, coat color, racing performance, gaithas been shown to be the main gene responsible for chestnut color, and the locus has been shown to control

Keywords： horse     coat color     racing performance     gait     height    

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Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1076-1085 doi: 10.1631/FITEE.1601667

Abstract: humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gaitSimultaneously, the mapping from the pHRI torque to the human gait trajectory is defined.then the gait is regarded as the reference input for the controller.A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton tofollow the human gait trajectory.

Keywords： Exoskeleton     Physical human-robot interaction     Torque sensor     Human gait     Kalman smoother    

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A partition approach for robust gait recognition based on gait template fusion Research Articles

Kejun Wang, Liangliang Liu, Xinnan Ding, Kaiqiang Yu, Gang Hu,heukejun@126.com,liuliangliang@hrbeu.edu.cn,dingxinnan@hrbeu.edu.cn,yukaiqiang@hrbeu.edu.cn,hugang@hrbeu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 5,   Pages 615-766 doi: 10.1631/FITEE.2000377

Abstract: Many have been presented that can effectively represent gait features.Each gait template has its advantages and can represent different prominent information.In this paper, gait template fusion is proposed to improve the classical representative gait templateWe also present a partition method to reflect the different gait habits of different body parts of each

Keywords： 步态识别；分块算法；步态模板；步态分析；步态能量图；深度卷积神经网络；生物特征识别；模式识别    

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An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance Research

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 723-739 doi: 10.1631/FITEE.1900455

Abstract: ., the motors, power supplement units, and control units, were placed close to the proximity of the humanThe system based on a foot pressure sensor and an inertial measurement unit (IMU) could identify the gaitcycle and gait states efficiently.

Keywords： Ankle exoskeleton     Plantarflexion-dorsiflexion bidirectional assistance     Biological gait torque     Cable-driven     Gait detection    

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WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

Frontiers of Agricultural Science and Engineering 2022, Volume 9, Issue 1,   Pages 37-51 doi: 10.15302/J-FASE-2021405

Abstract: Growing resistant cultivars is the best strategy to control this disease but the pathogen can overcomeCurrent stripe rust control measures are based on many years of research including the underlying epidemiologystripe rust include negative regulatory gene editing, resistance gene overexpression and biological control

Keywords： sustainable disease control / integrated control Puccinia striiformis / Triticum aestivum    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical controlstrategies with their modern control counterparts.Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniquesthree kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control

Keywords： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators    

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Title Author Date Type Operation

Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article

Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Journal Article

Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral

Donghai WANG

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

Recognition of walking environments and gait period by surface electromyography

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

Genomic regions under selection for important traits in domestic horse breeds

Xuexue LIU, Yuehui MA, Lin JIANG

Journal Article

Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Journal Article

A partition approach for robust gait recognition based on gait template fusion

Kejun Wang, Liangliang Liu, Xinnan Ding, Kaiqiang Yu, Gang Hu,heukejun@126.com,liuliangliang@hrbeu.edu.cn,dingxinnan@hrbeu.edu.cn,yukaiqiang@hrbeu.edu.cn,hugang@hrbeu.edu.cn

Journal Article

An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Journal Article

WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

Journal Article

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Journal Article