Tesis sobre el tema "Human locomotion"
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Hanson, Nardie Kathleen Igraine. "Cognitive and locomotor strategies of arboreal locomotion in non-human apes and humans". Thesis, University of Birmingham, 2016. http://etheses.bham.ac.uk//id/eprint/7122/.
Texto completoINVERNIZZI, FABIO. "Human locomotion energy harvesting". Doctoral thesis, Università degli studi di Pavia, 2018. http://hdl.handle.net/11571/1214837.
Texto completoVaughan, Christopher Leonard (Kit). "The biomechanics of human locomotion". Doctoral thesis, University of Cape Town, 2009. http://hdl.handle.net/11427/3491.
Texto completoMeglan, Dwight Alan. "Enhanced analysis of human locomotion". The Ohio State University, 1991. http://rave.ohiolink.edu/etdc/view?acc_num=osu1239984087.
Texto completoGoslin, Brian Richard. "Economy and efficiency of human locomotion". Thesis, Rhodes University, 1985. http://hdl.handle.net/10962/d1007177.
Texto completoYamashita, Daichi. "The mechanics of human sideways locomotion". Kyoto University, 2014. http://hdl.handle.net/2433/188791.
Texto completo0048
新制・課程博士
博士(人間・環境学)
甲第18353号
人博第666号
新制||人||160(附属図書館)
25||人博||666(吉田南総合図書館)
31211
京都大学大学院人間・環境学研究科共生人間学専攻
(主査)准教授 神﨑 素樹, 教授 森谷 敏夫, 准教授 久代 恵介, 教授 小田 伸午
学位規則第4条第1項該当
Rosen, Sarah Tucker Carole Seliktar Rahamim. "The propulsion dynamics of human locomotion /". Philadelphia, Pa. : Drexel University, 2009. http://hdl.handle.net/1860/3020.
Texto completoRevelle, Matthew. "Representing and visualizing articulated movement". Fairfax, VA : George Mason University, 2009. http://hdl.handle.net/1920/4570.
Texto completoVita: p. 29. Thesis director: Zoran Durić. Submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science. Title from PDF t.p. (viewed Oct. 11, 2009). Includes bibliographical references (p. 27-28). Also issued in print.
Wisti, Andrew Zachary. "Human Vestibular Signals Generated by Natural Locomotion". Thesis, University of California, Irvine, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10289128.
Texto completoSensory systems are believed to take advantage of the properties of natural stimuli. Natural images, for example, follow normality and a power-law which are reflected in the dynamics of visual cells. In order to better understand the vestibular system we examined natural human motion. We measured torso and head angular velocities of human subjects who walked, jogged, and climbed a staircase. Angular velocity distributions of the head and torso were fit well by Cauchy distributions, while power spectral densities did not follow a power law. We found that neither a power law nor a two-line-segment fit were sufficient to fit power spectral densities of angular velocity. Increases in power at the gait frequency and its harmonics are not well fit by lines. Differences between torso and head motion show a more evenly distributed reduction of angular velocities, presumably by the neck, in the semicircular canal frame of reference. Coherence between torso and head angular velocity did not show a linear relationship over all frequencies, but did suggest a linear relationship at the fundamental gait frequency and its harmonics. Reduction in angular velocity between the torso and head was then modeled by an adaptive linear filter. Results were mixed and depended on subject, condition, and axis. Qualitatively, predictions of angular velocity were good, capturing both the amplitude and periodicity of the actual head velocity. Finally, initial results were replicated while normalizing gait cycles using linear length normalization. Natural walking and running conditions were compared to treadmill walking and running. Subjects showed significantly different peak velocities during natural and treadmill conditions despite similar movement speeds. Coherence was also different between natural and treadmill conditions. These results provide evidence that natural and treadmill locomotion are treated differently, possibly due to the lack of visual input during treadmill locomotion. Subjects also walked with their heads turned to either the left or right, separating direction of motion and direction of the head. Angular velocity during these conditions show that head direction is not important for stabilizing the head, suggesting that efference copies play a role in head stabilization.
Zamparo, Paola. "Optimization and transmission efficiency in human locomotion". Thesis, Manchester Metropolitan University, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.251301.
Texto completoAvor, John Kweku. "Application of sensor fusion to human locomotor system". To access this resource online via ProQuest Dissertations and Theses @ UTEP, 2009. http://0-proquest.umi.com.lib.utep.edu/login?COPT=REJTPTU0YmImSU5UPTAmVkVSPTI=&clientId=2515.
Texto completoPringle, Jamie S. M. "The oxygen uptake slow component in human locomotion". Thesis, Manchester Metropolitan University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268988.
Texto completoNewman, Dava Jean. "Human locomotion and energetics in simulated partial gravity". Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/13172.
Texto completoSeethapathi, Nidhi Seethapathi. "Transients, Variability, Stability and Energy in Human Locomotion". The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1534590933898397.
Texto completoGARCIA, C. A. C. "Human-Robot Interaction Strategies for Walker-Assisted Locomotion". Universidade Federal do Espírito Santo, 2015. http://repositorio.ufes.br/handle/10/9725.
Texto completoNeurological and age-related diseases affect human mobility at different levels causing partial or total loss of such faculty. There is a significant need to improve safe and efficient ambulation of patients with gait impairments. In this context, walkers present important benefits for human mobility, improving balance and reducing the load on their lower limbs. Most importantly, walkers induce the use of patients residual mobility capacities in different environments. In the field of robotic technologies for gait assistance, a new category of walkers has emerged, integrating robotic technology, electronics and mechanics. Such devices are known as robotic walkers, intelligent walkers or smart walkers One of the specific and important common aspects to the field of assistive technologies and rehabilitation robotics is the intrinsic interaction between the human and the robot. In this thesis, the concept of Human-Robot Interaction (HRI) for human locomotion assistance is explored. This interaction is composed of two interdependent components. On the one hand, the key role of a robot in a Physical HRI (pHRI) is the generation of supplementary forces to empower the human locomotion. This involves a net flux of power between both actors. On the other hand, one of the crucial roles of a Cognitive HRI (cHRI) is to make the human aware of the possibilities of the robot while allowing him to maintain control of the robot at all times. This doctoral thesis presents a new multimodal human-robot interface for testing and validating control strategies applied to a robotic walkers for assisting human mobility and gait rehabilitation. This interface extracts navigation intentions from a novel sensor fusion method that combines: (i) a Laser Range Finder (LRF) sensor to estimate the users legs kinematics, (ii) wearable Inertial Measurement Unit (IMU) sensors to capture the human and robot orientations and (iii) force sensors measure the physical interaction between the humans upper limbs and the robotic walker. Two close control loops were developed to naturally adapt the walker position and to perform body weight support strategies. First, a force interaction controller generates velocity outputs to the walker based on the upper-limbs physical interaction. Second, a inverse kinematic controller keeps the walker within a desired position to the human improving such interaction. The proposed control strategies are suitable for natural human-robot interaction as shown during the experimental validation. Moreover, methods for sensor fusion to estimate the control inputs were presented and validated. In the experimental studies, the parameters estimation was precise and unbiased. It also showed repeatability when speed changes and continuous turns were performed.
Vassallo, Christian. "Using human-inspired models for guiding robot locomotion". Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30177/document.
Texto completoThis thesis has been done within the framework of the European Project Koroibot which aims at developing advanced algorithms to improve the humanoid robots locomotion. It is organized in three parts. With the aim of steering robots in a safe and efficient manner among humans it is required to understand the rules, principles and strategies of human during locomotion and transfer them to robots. The goal of this thesis is to investigate and identify the human locomotion strategies and create algorithms that could be used to improve robot capabilities. A first contribution is the analysis on pedestrian principles which guide collision avoidance strategies. In particular, we observe how humans adapt a goal-direct locomotion task when they have to interfere with a moving obstacle crossing their way. We show differences both in the strategy set by humans to avoid a non-collaborative obstacle with respect to avoid another human, and the way humans interact with an object moving in human-like way. Secondly, we present a work done in collaboration with computational neuroscientists. We propose a new approach to synthetize realistic complex humanoid robot movements with motion primitives. Human walking-to-grasp trajectories have been recorded. The whole body movements are retargeted and scaled in order to match the humanoid robot kinematics. Based on this database of movements, we extract the motion primitives. We prove that these sources signals can be expressed as stable solutions of an autonomous dynamical system, which can be regarded as a system of coupled central pattern generators (CPGs). Based on this approach, reactive walking-to-grasp strategies have been developed and successfully experimented on the humanoid robot HRP at LAAS-CNRS. In the third part of the thesis, we present a new approach to the problem of vision-based steering of robot subject to non-holonomic constrained to pass through a door. The door is represented by two landmarks located on its vertical supports. The planar geometry that has been built around the door consists of bundles of hyperbolae, ellipses, and orthogonal circles. We prove that this geometry can be directly measured in the camera image plane and that the proposed vision-based control strategy can also be related to human. Realistic simulation and experiments are reported to show the effectiveness of our solutions
Pantazis, Ioannis. "Tracking human walking using MARG sensors". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FPantazis.pdf.
Texto completoThesis Advisor(s): Xiaoping Yun. Includes bibliographical references (p. 93-95). Also available online.
Grabowski, Alena Marie. "Effects of gravitational and inertial forces on human locomotion". Connect to online resource, 2007. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3273692.
Texto completoMabini, Alex T. "Improved usability of locomotion devices using human-centric taxonomy". Thesis, Monterey, Calif. : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Mar/09Mar%5FMabini.pdf.
Texto completoThesis Advisor(s): Darken, Rudolph. "March 2009." Description based on title screen as viewed on May 6, 2009. Author(s) subject terms: Locomotion, Virtual Walking, Taxonomy, Virtual Environments Includes bibliographical references (p. 101-102). Also available in print.
Yarbrough, Nancy Victoria 1945. "CONTROL OF TOUCHDOWN IN HUMAN LOCOMOTION (ELECTROMYOGRAPHY, WALKING, KINEMATICS)". Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/291309.
Texto completoZakaria, Firas. "Human locomotion analysis : exploitation of cyclostationarity properties of signals". Thesis, Saint-Etienne, 2015. http://www.theses.fr/2015STET4019/document.
Texto completoThe research work presented in this dissertation, involves the development of novel methodologies and methods, for the exploitation of cyclostationarity properties and for the treatment of ground reaction force signals, recorded during walking and running. We are especially interested in the analysis of human locomotion in three fields of interest: a study relating to pathology, a study directly related to age, and a study of muscle fatigue. Indeed, the detection of risk of falling among the elderly for the prevention of falls is of major concern. This is because falling on the one hand leads to a large number of deaths and secondly, resulting in higher costs of public health.Study the muscle fatigue in particular has occupied taken a big share out of this research due to the importance of such events like strenuous level of sports. Research and development of new methods and indicators in the field of signal processing for better characterizing the human locomotion, would allow interesting advances in the aforementioned issues. The complexity of GRF signals is defined by the neuromuscular system which generates this signal. Improved knowledge of this system requires developing source separation methods and advanced signal processing tools to better describe the system under consideration. Indeed, we will endeavor to show in this dissertation that GRF signals can be modeled within an enlarged cyclostationary framework. The GRF signal components (active and passive contribution) are separated by means of new source separation techniques. This modeling opens new perspectives for the decomposition and identification of individual sources. On the other hand, we exploit the cyclostationary characters of signals in the context of Morphological component analysis (MCA) method. Such algorithm enables us to successfully separate the first and second order components of the signals under consideration. Finally, we provide a new model useful for studying and characterizing cyclostationarity. It presents the impact of random slope variation on the cyclic spectrum of the signal. We call this model the random slope modulation (RSM). We apply this model for studying biomechanical signals where we consider the slope as a specic measure extracted from the vertical ground reaction forces. The results show that the slope and polynomial random coefficients of passive peaks can play important role and provide interesting information concerning fatigue and concerning running / walking performance
Papaioannou, George. "A three dimensional mathematical model of the human knee". Thesis, University of Strathclyde, 1999. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143.
Texto completoYen, Jasper Tong-Biau. "Force control during human bouncing gaits". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/43698.
Texto completoBay, John S. "Coupled nonlinear oscillators as central pattern generators for rhythmic locomotion". Connect to resource, 1985. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1157054630.
Texto completoAuyang, Arick Gin-Yu. "Robustness and hierarchical control of performance variables through coordination during human locomotion". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/42837.
Texto completoLee, Heng-Ju. "Detection of gait instability and quantification of muscular demands during locomotion in the elderly /". view abstract or download file of text, 2006. http://proquest.umi.com/pqdweb?did=1251836501&sid=9&Fmt=2&clientId=11238&RQT=309&VName=PQD.
Texto completoTypescript. Includes vita and abstract. Includes bibliographical references (leaves 124-134). Also available for download via the World Wide Web; free to University of Oregon users.
Onder, Murat. "Locomotion in virtual environments and analysis of a new virtual walking device". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Mar%5FOnder.pdf.
Texto completoThesis Advisor(s): Rudolph Darken. Includes bibliographical references (p. 59-61). Also available online.
Pandy, Marcus G. "Models for understanding the dynamics of human walking". The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1272472293.
Texto completoJohnson, Dace. "Lower limb rotational profiles of young premature born children /". [St. Lucia, Qld. : s.n.], 2002. http://www.library.uq.edu.au/pdfserve.php?image=thesisabs/absthe16641.pdf.
Texto completoLong, Leroy L. III. "An Experiment in Human Locomotion: Energetic Cost and Energy-Optimal Gait Choice". The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1313584497.
Texto completoIslam, Laila Noor. "Studies on chemoattractant-induced polarisation and locomotion of human blood leucocytes". Thesis, University of Glasgow, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329008.
Texto completoFarhadi-Niaki, Farzin. "Usability Analysis in Locomotion Interface for Human Computer Interaction System Design". Thesis, Université d'Ottawa / University of Ottawa, 2019. http://hdl.handle.net/10393/38670.
Texto completoWu, W. L. "Comparative studies of locomotion and of epidermal sense organs of some freshwater bivalve molluscs". Thesis, University of Manchester, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356705.
Texto completoTruong, Tan Viet Anh. "Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes". Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2010. http://tel.archives-ouvertes.fr/tel-00512405.
Texto completoBarbier, Franck. "Modélisation biomécanique du corps humain et analyse de la marche normale et pathologique : application à la rééducation". Valenciennes, 1994. https://ged.uphf.fr/nuxeo/site/esupversions/0361254a-2544-41f3-a9e2-d2ba0d309f91.
Texto completoAdams, Christi J. "An Investigation of Navigation Processes in Human Locomotor Behavior". Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/9559.
Texto completoMaster of Science
Naveau, Maximilien. "Advanced human inspired walking strategies for humanoid robots". Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30188/document.
Texto completoThis thesis covers the topic of humanoid robot locomotion in the frame of the European project KoroiBot. The goal of this project is to enhance the ability of humanoid robots to walk in a dynamic and versatile fashion as humans do. Research and innovation studies in KoroiBot rely on optimal control methods both for the identification of cost functions used by human being and for their implementations on robots owned by roboticist partners. Hence, this thesis includes fruitful collaborations with both control mathematicians and experts in motion primitive modeling. The main contributions of this PhD thesis lies in the design of new real time controllers for humanoid robot locomotion with our partners from the University of Heidelberg and their integration on the HRP-2 robot. Two controllers will be shown, one allowing multi-contact locomotion with a prior knowledge of the future contacts. And the second is an extension of a previous work improving performance and providing additional functionalities. In a collaboration with experts in human motion we designed an innovating controller for tracking cyclic trajectories of the center of mass. We also show a whole body controller using upper body movement primitives extracted from human behavior and lower body movement computed by a walking pattern generator. The results of this thesis have been integrated into the LAAS-CNRS "Stack-of-Tasks" software suit
Boudali, Ahmed Mounir. "System Identification of Bipedal Locomotion in Robots and Humans". Thesis, The University of Sydney, 2018. http://hdl.handle.net/2123/20326.
Texto completoFelis, Martin L. [Verfasser] y Katja [Akademischer Betreuer] Mombaur. "Modeling Emotional Aspects in Human Locomotion / Martin Leonhard Felis ; Betreuer: Katja Mombaur". Heidelberg : Universitätsbibliothek Heidelberg, 2015. http://d-nb.info/1180501861/34.
Texto completoMcDougal, Wesley D. "Biomechanical changes to human locomotion due to asymmetric loading of the legs". Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/75667.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (p. 51).
The biomechanics of lower limb locomotion is a yet unknown mixture of neurological control and physical parameters. The current study explored attaching a rehabilitative anklebot to subjects walking on a treadmill and observed duration, kinematic, and electromyography data to determine the biomechanical response to the asymmetric loading. The present report identified various gait cycle parameters that changed as a response to the asymmetric loading. Notably, significant differences in the stride time of the legs occurred under loading, while contralateral stride times also adjusted to remain equal to those of the loaded legs. Symmetry index analysis led to the conclusion that, while the asymmetric loading of the lower limbs had some effects on temporal gait parameters, the body adjusted to minimize any temporal asymmetry. However, goniometer data demonstrated kinematic changes in response to loading as knee flexion peaked earlier in the gait cycle.
by Wesley D. McDougal.
S.B.
Forster, Erik [Verfasser]. "Predicting muscle forces in the human lower limb during locomotion / Erik Forster". Ulm : Universität Ulm. Medizinische Fakultät, 2004. http://d-nb.info/1015438431/34.
Texto completoSantuz, Alessandro. "Extracting muscle synergies from human steady and unsteady locomotion: methods and experiments". Doctoral thesis, Humboldt-Universität zu Berlin, 2018. http://dx.doi.org/10.18452/19351.
Texto completoThe need to move over uneven, continuously changing terrains is part of our daily life. Thus, the central nervous system must integrate an augmented amount of information in order to be able to cope with the unpredictability of external disturbances. A consequence of this increased demand might be a flexible recombination of the modular organisation of movement creation and control. At the expense of motion’s accuracy, it is possible that the system responds by increasing its control’s robustness (i.e. ability to cope with errors). However, the strategies employed by the central nervous system to organise movement are still poorly understood. One possibility is that movements are constructed through a small amount of linearly combined patterns of activations, called muscle synergies. Amongst the several possibilities of perturbing locomotion, the removal of footwear and the use of uneven surfaces are two valid options. In a first step, I conducted a thorough analysis of the methodologies useful for a) the evaluation of spatiotemporal gait parameters using plantar pressure distribution data and b) the extraction of muscle synergies using non-negative matrix factorisation. Afterwards, I analysed the modular organisation of c) shod and barefoot running and d) walking and running over an even- and an uneven-surface treadmill. The modular organisation of locomotion, assessed through the extraction of muscle synergies, changed when perturbations were introduced. Compared to the shod condition, barefoot running underwent, mostly due to the different foot strike pattern, a reorganisation of the time-independent coefficients (motor modules) and a time-shift of the time-dependent muscle activation patterns (motor primitives). Uneven-surface locomotion, compared to even-surface, conserved motor modules, while motor primitives were generally wider, confirming the idea of an increased robustness in motor control during unsteady locomotion.
Wang, Xing. "Human motion sequence characterization using machine learning techniques /". access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?mphil-cs-b23750492f.pdf.
Texto completo"Submitted to Department of Computer Science in partial fulfillment of the requirements for the degree of Master of Philosophy." Includes bibliographical references (leaves [152]-163)
Lee, Chao-Hua. "Articulated human motion compression, synthesis and classification". Thesis, University of Cambridge, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.609103.
Texto completoBrittain, John-Stuart. "The non-stationary analysis and characterisation of neurological systems involved in human locomotion". Thesis, University of York, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.444696.
Texto completoJackson, Rachel W. "Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/911.
Texto completoSong, Seungmoon. "The Development, Evaluation and Applications of a Neuromechanical Control Model of Human Locomotion". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/952.
Texto completoAparicio, Conrado. "Implementation of a quaternion-based Kalman filter for human body motion tracking using MARG sensors". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Sep%5FAparicio.pdf.
Texto completoSaborit, González Gerard. "Modelización biomecánica de la locomoción bípeda en humanos y homininos". Doctoral thesis, Universitat de Barcelona, 2019. http://hdl.handle.net/10803/667575.
Texto completoHuman bipedal locomotion is a huge evolutionary milestone. Human children learn to walk very young, nonetheless, the mechanical processes involved are anything but simple. Energy and forces must synchronize creating a complex dynamic balance. The fact that the minimum energy consumption in gradient walking is achieved for a negative gradient of -12% or that the path that minimizes the energy consumption between two points is not always the straight one are two known examples of the complexity of gradient walking. This thesis presents a theoretical biomechanical model to set a conceptual framework in which the energetic analysis for human gradient walking can be developed. From this model some outstanding conclusions can be drawn such as the fact that the gravitational potential energy has a main role in the global mechanical energy balance or that a dimensionless parameter, K, is the key to minimize the energy expenditure in gradient walking, having a certain optimal gradient for each value of K. With the developed theoretical framework several known experimental results, apparently in contradiction, can be explained. Given the importance of K parameter, experimental measures of its value in modern human have been done, either for adult and sub adult, showing consistent results for both groups. It has been shown that a sexual dimorphism exists in human adults, having women a slightly but significantly bigger K parameter within the natural walking scenario. Finally the thesis compares the K value found for modern human against the estimated value for different hominins fossil registers such as Roccamonfina (Italy), Laetoli (Tanzania), Ileret (Kenya) or Happisburgh (United Kingdom). Based on the values found, it is shown that not all hominins had a K value within the range of values found for modern humans, thus it can be determined that their evolutionary stage of bipedism was not mechanically the same than the one achieved by modern humans.
Leardini, Alberto. "Geometry and mechanics of the human ankle complex, and ankle prosthesis design". Thesis, University of Oxford, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.343530.
Texto completo