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Neuromechanical interactions between the limbs during human locomotion: an evolutionary perspective with translation to rehabilitation

E.P. Zehr, Trevor S. Barss, Katie Dragert, Alain Frigon, Erin V. Vasudevan, Carlos Haridas, Sandra Hundza, Chelsea Kaupp, Taryn Klarner, Marc Klimstra, Tomoyoshi Komiyama, Pamela M. Loadman (+4 others)
2016 Experimental Brain Research  
The present state of the field supports including arm activity in addition to leg activity as a component of gait retraining after neurotrauma.  ...  During bipedal locomotor activities, humans use elements of quadrupedal neuronal limb control.  ...  Acknowledgments This work was supported by a Grant-in-Aid of Research from the Heart and Stroke Foundation (BC & Yukon) and a Discovery Grant from the Natural Sciences and Engineering Research Council  ... 
doi:10.1007/s00221-016-4715-4 pmid:27421291 pmcid:PMC5071371 fatcat:ws6r3hcjt5ampfmuaso7h2g4su

Synthesis of natural arm swing motion in human bipedal walking

Jaeheung Park
2008 Journal of Biomechanics  
This paper attempts to explain the contribution of out-of-phase arm swing in human bipedal walking.  ...  Arm motion during natural walking is distinguished in that each arm swing is with the motion of the opposing leg.  ...  Acknowledgments Thanks to Probal Mitra and Vincent De Sapio for invaluable discussion in preparation of this paper.  ... 
doi:10.1016/j.jbiomech.2008.02.031 pmid:18417138 fatcat:zqhx5sglnvbc5juiqivqcc7yke

Human Bipedalism, Evolved from Arboreal Locomotion of Two-arm Brachiation [article]

C.Fang, T.Jiang, X.Yuan
2014 arXiv   pre-print
Among all kinds of apes, only gibbons have the slim body as human. Gibbons can move in the forest by cross arm swing, what was the locomotion mode of our arboreal ancestor.  ...  Such mode of locomotion can account reasonably for the transition to bipedalism.  ...  But we think two-arm brachiation is the main cause of the evolution of human bipedalism, and our body structure especially the body joints are still affected by such arboreal locomotion mode, the corresponding  ... 
arXiv:1411.0295v2 fatcat:psypm2ey75cmtfhc7oviwvmwui

Humanoid robot orientation stabilization by shoulder joint motion during locomotion

Selim Ozel, S. Emre Eskimez, Kemalettin Erbatur
2013 2013 9th Asian Control Conference (ASCC)  
Arm swing action is a natural phenomenon that emerges in biped locomotion.  ...  Results indicate that the method is successful in reducing oscillations of body angles during bipedal walking.  ...  INTRODUCTION Humans swing their arms naturally in the course of biped locomotion [1, 2] . This suggests that arm motion can be utilized to enhance the bipedal robot walking naturalness.  ... 
doi:10.1109/ascc.2013.6606339 dblp:conf/ascc/OzelEE13 fatcat:qbp7fgphd5hsloiltnzoby45ya

The Quadrupedal Nature of Human Bipedal Locomotion

E. Paul Zehr, Sandra R. Hundza, Erin V. Vasudevan
2009 Exercise and sport sciences reviews  
These observations are consistent with the emergence of human bipedalism and nonhuman primate arboreal quadrupedal walking.  ...  These neural and biomechanical linkages could be exploited in rehabilitation after neurotrauma to allow the arms to give the legs a helping hand during gait rehabilitation.  ...  Acknowledgments This study was supported by grants to E.P.Z. from the Natural Sciences and Engineering Council of Canada (NSERC), the Heart and Stroke Foundation of Canada (British Columbia and Yukon),  ... 
doi:10.1097/jes.0b013e31819c2ed6 pmid:19305202 fatcat:pieimzf4gjfppinyhxlw7x7kn4

An optimized gait generator based on fourier series towards fast and robust biped locomotion involving arms swing

Nima Shafii, Ali Khorsandian, Abbas Abdolmaleki, Bahram Jozi
2009 2009 IEEE International Conference on Automation and Logistics  
For the first time a new method will be introduced to improve the speed and robustness of bipedal walking by refining signals and reducing the role of inertia.  ...  In this article a model free approach with emphasis on making robot's walking more stable and faster is presented.  ...  In case of straight forward walking, especially on high speed walking, human being must swing arms to absorb yaw moment caused by legs swing.  ... 
doi:10.1109/ical.2009.5262600 fatcat:5u2fkbfnmfht7cxxh2q6nc3i5m

Simulation and Experimental Walking Pattern Generation for Two Types of Degrees of Freedom Bipedal Locomotion Robot

Ali Fawzi Abdul Kareem, Ahmed Abdul Hussein Ali
2020 Engineering Journal  
The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase.  ...  In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom.  ...  In a fast biped walking robot, the legs' swinging creates an important moment about the vertical axis of the bipedal robot, thus resulting in a twisting motion.  ... 
doi:10.31026/j.eng.2020.12.01 fatcat:m37kcej7rnh3ncoq3yyrzfkusm

When joggers meet robots: the past, present, and future of research on humanoid robots

George H. Z. Liu, Michael Z. Q. Chen, Yonghua Chen
2019 Bio-Design and Manufacturing  
To this end, we also review the current clinical understanding of the walking and running dynamics to make the robot more human-like.  ...  Therefore, the purpose of this work is to review the current development of highly representative bipedal humanoid robots and discuss the potential to move the ideas and models forward from laboratory  ...  The robust natural bipedal walking robots require the development of essential control strategies such as swing speed-up, step adjustment, and force feedback.  ... 
doi:10.1007/s42242-019-00038-7 fatcat:iavhuo3l5bhkbn56m24rhqw47i

Biologically Inspired Self-Stabilizing Control for Bipedal Robots

Woosung Yang, Hyungjoo Kim, Bum Jae You
2013 International Journal of Advanced Robotic Systems  
The entrainment nature inherent to neural oscillators also achieved stable and robust walking even in the presence of unexpected disturbances, in that the centre of mass (COM) was successfully kept in  ...  Despite recent major advances in computational power and control algorithms, the stable and robust control of a bipedal robot is still a challenging issue due to the complexity and high nonlinearity of  ...  The oscillators provide robust performance in a wide variety of rhythmic tasks when they are implemented to a system such as a robotic arm.  ... 
doi:10.5772/55463 fatcat:gfg3f2m2lbafhfadhpnuufisy4

Reinforcement Learning based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion

Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2022 IEEE Access  
Unlike these studies, we propose a policy structure that decouples the bipedal locomotion problem into two modules that incorporate the physical insights from the nature of the walking dynamics and the  ...  These results demonstrate that the proposed cascade feedback control policy is suitable for navigation of 3D bipedal robots in indoor and outdoor environments.  ...  INTRODUCTION W HILE human and biological bipeds can naturally learn complex motion planning, it is still a challenging task for bipedal robots due to the highly unstable nature of bipedal robots.  ... 
doi:10.1109/access.2022.3151771 fatcat:g6cwzzml2rhvdiv2vw7yksftiu

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads [article]

Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan Hurst
2022 arXiv   pre-print
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains.  ...  In many applications, robots will need to maintain robust locomotion under a wide range of potential dynamic loads, such as pulling a cart or carrying a large container of sloshing liquid, ideally without  ...  ACKNOWLEDGMENTS We thank Carl Wilcox for design of hardware for physical load tests, Intel for providing vLab resources and students at the Dynamic Robotics Laboratory for helpful discussions.  ... 
arXiv:2204.04340v1 fatcat:essqu7wzkzey5mdthhjapzftci

An experimental study of passive dynamic walking

Q. Wu, N. Sabet
2004 Robotica (Cambridge. Print)  
Such an understanding will have a direct impact on better design of prostheses and on the active control aspects of bipedal robots.  ...  This research enables us to gain a better understanding of the mechanics of walking.  ...  The above observations of the passive control of side-to-side rocking and yaw indicates the importance of the arm swinging in stability and energyefficiency of human walking, and such arm-swinging might  ... 
doi:10.1017/s0263574703005563 fatcat:ba6gfehsnnd4liw76bmaitmkca

Design of a bipedal walking robot

Jerry Pratt, Ben Krupp, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2008 Unmanned Systems Technology X  
We present the mechanical design of a bipedal walking robot named M2V2, as well as control strategies to be implemented for walking and balance recovery.  ...  To date we know of no other bipedal walking robot that has been able to repeat this feat.  ...  In addition, they allow the use of many of the mechanisms that are used in passive dynamic walking robots, such as a swing leg that swings freely as a double-link pendulum.  ... 
doi:10.1117/12.777973 fatcat:npv4ernuhrbtriffhkwxmywfji

Predicted threshold against backward balance loss in gait

Feng Yang, Frank C. Anderson, Yi-Chung Pai
2007 Journal of Biomechanics  
In general, the minimal COM velocity necessary to prevent a backward loss of balance in walking was greater than that in symmetric bipedal standing, and the difference could approach 30% or more when the  ...  : (1) the posture at the beginning of swing phase (i.e., at toe-off), and (2) symmetric bipedal standing.  ...  Chandran for his initial assistance in programming and Tanvi Bhatt, Ph.D., for editing the text.  ... 
doi:10.1016/j.jbiomech.2006.03.015 pmid:16723127 pmcid:PMC2789478 fatcat:ijwkwp73jnfodb4eme6hz57oge

Integrating dynamic walking and arm impedance control for cooperative transportation

Mohamad Shafiee Motahar, Sushant Veer, Jian Huang, Ioannis Poulakakis
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper presents a method for integrating a cooperative manipulation task in the design of dynamic walking motions for an underactuated bipedal robot.  ...  The method is applied in the case of a bipedal robot model walking over flat ground and up and down stairs of known geometry under the influence of a trajectory that is unknown to the biped and represents  ...  This adaptability is essentially a consequence of the way the controller deals with the underactuated nature of the bipedal model considered.  ... 
doi:10.1109/iros.2015.7353493 dblp:conf/iros/MotaharVHP15 fatcat:pxatggw5wfeonpb2jqu5tohw2i
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