Design and Operation of Human Locomotion Systems

Cover......Page 1
DESIGN AND
OPERATION
OF HUMAN
LOCOMOTION
SYSTEMS
......Page 3
Copyright......Page 4
Contributors......Page 5
Preface......Page 6
Introduction......Page 7
Characteristics of legged locomotion......Page 8
Existing legged locomotion systems......Page 13
Design considerations for legged locomotion systems......Page 22
Biped robot with Chebyshev-linkage legs......Page 25
LARM hexapod series......Page 28
HeritageBot platform with parallel mechanism legs......Page 30
Exoskeleton leg mechanism......Page 33
References......Page 36
Further reading......Page 37
Introduction......Page 38
Gait analysis based on principal component analysis......Page 39
Numerical example (design of assistive force trajectory for squatting motion)......Page 43
Kinematic synthesis of a wearable walking assist device for hemiplegics......Page 44
Mechanism design of wearable walking assist device......Page 46
Joint input trajectory synthesis based on PCA......Page 47
Selection of joints to be active ones......Page 50
References......Page 54
Introduction......Page 55
Stability in human-like locomotion......Page 56
One-leg mechanism model......Page 57
Kinematics......Page 58
Dynamics......Page 59
Lock up or stiction......Page 60
Sliding......Page 62
Biped robot, gait design......Page 64
Overview of artificial hydrocarbon networks......Page 65
Artificial organic controllers......Page 67
Design of the artificial organic controller......Page 68
AHN-based reinforcement learning for balancing the one-leg mechanism......Page 69
Policy search......Page 70
Experimental results......Page 71
Control of balancing task under noisy conditions......Page 73
Learning of balancing task......Page 78
Conclusions......Page 81
References......Page 83
Introduction......Page 86
Stance phase......Page 88
Quantitative gait analysis......Page 89
An experimental layout......Page 90
Markers configuration......Page 91
Human walking analysis......Page 92
Joint centers location......Page 93
Ground reaction force......Page 97
Analysis of obstacle overcoming......Page 98
Overview of biped walking......Page 99
Obstacle overcoming analysis......Page 105
Conclusion......Page 107
References......Page 109
Introduction......Page 111
Biomechanical aspects of biped locomotion......Page 112
Mechanical design and operation of exoskeletons......Page 124
What is the essence of the semi-inverse method?......Page 127
Recent design solutions-State-of-the-art......Page 144
Control of exoskeletons......Page 149
Conclusion......Page 155
References......Page 156
E......Page 161
L......Page 162
M......Page 163
V......Page 164
Z......Page 165
Back Cover......Page 166