Статті в журналах: "Walking mechanisms"

1

Rong, Yu, Zhen Lin Jin, and Meng Ke Qu. "Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms." Advanced Materials Research 496 (March 2012): 247–50. http://dx.doi.org/10.4028/www.scientific.net/amr.496.247.

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In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.

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2

TAKEDA, Yukio. "Parallel Mechanisms in Walking Robots." Journal of the Robotics Society of Japan 10, no. 6 (1992): 745–50. http://dx.doi.org/10.7210/jrsj.10.745.

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3

Liang, Conghui, Hao Gu, Marco Ceccarelli, and Giuseppe Carbone. "Design and operation of a tripod walking robot via dynamics simulation." Robotica 29, no. 5 (October 12, 2010): 733–43. http://dx.doi.org/10.1017/s0263574710000615.

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SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

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4

Orendurff, Michael S., Greta C. Bernatz, Jason A. Schoen, and Glenn K. Klute. "Kinetic mechanisms to alter walking speed." Gait & Posture 27, no. 4 (May 2008): 603–10. http://dx.doi.org/10.1016/j.gaitpost.2007.08.004.

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5

Zhang, Fu, Yafei Wang, Limin Zheng, Tianle Ma, and Jiajia Wang. "Biomimetic walking mechanisms: Kinematic parameters of goats walking on different slopes." Concurrency and Computation: Practice and Experience 30, no. 24 (August 27, 2018): e4913. http://dx.doi.org/10.1002/cpe.4913.

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6

Ogata, Masaru, and Shigeo Hirose. "Study on Ankle Mechanisms for Walking Robots -Fundamental Considerations on its Functions and Morphology-." Journal of Robotics and Mechatronics 16, no. 1 (February 20, 2004): 23–30. http://dx.doi.org/10.20965/jrm.2004.p0023.

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Walking robots need terrain adaptive ankle and sole mechanism to move stably on rugged ground. In this paper, the designs of the ankle mechanism for walking robots are discussed. First, we consider required functions for ankle mechanism. An effective ankle mechanism requires the following characteristics: 1) lightweight and robust mechanism, 2) ability to adapt to the ground, 3) sensing function, 4) torque generating or freezing its shape function after landing. Next, we explain the validity of the remote center mechanism and connected differential mechanism. The actual designs of passive terrain adaptive ankle mechanisms are discussed. Finally, the ankle mechanism of quadruped walking robot “TITAN-IX,” which is developed for mine detection and removal tasks, is mentioned. In order to examine the validities of proposed mechanisms, basic experiments were carried out using one-leg model of TITAN-IX.

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7

Zhang, S. J., D. J. Sanger, and D. Howard. "The Mechanics of Parallel Mechanisms and Walking Machines." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 208, no. 6 (November 1994): 367–77. http://dx.doi.org/10.1243/pime_proc_1994_208_142_02.

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A parallel mechanism is one whose links and joints form two or more serially connected chains which join the fixed base and the end effector The mechanism of a multi-legged walking machine can be considered as a parallel mechanism whose base is not fixed and whose configuration changes during different phases of its gait. This paper presents methods for analysing the mechanics of parallel mechanisms and walking machines using vector and screw algebra Firstly, displacement analysis is covered; this includes general methods for deriving the position vector of any joint in any leg and for calculating the active joint displacements in any leg. Secondly, velocity analysis is covered which tackles the problem of calculating active joint velocities given the velocity, position and the orientation of the body and the positions of the feet. Thirdly, the static analysis of these classes of mechanisms using the principle of virtual work and screw algebra is given. Expressions are derived for the actuator forces and torques required to balance a given end effector (or body) wrench and, in the case of a walking machine, the ground reactions at the feet. Numerical examples are given to demonstrate the application of these methods.

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8

Volkov, I. V., Ya V. Kalinin, N. A. Surganov, and S. N. Shabanov. "OVERVIEW OF DOCKING DEVICES FOR A WHEELED WALKING PLATFORM FOR AGRO-ROBOT." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 1(248) (January 27, 2021): 52–54. http://dx.doi.org/10.35211/1990-5297-2021-1-248-52-54.

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This article is devoted to an overview of docking mechanisms of the wheeled-walking platform for an agro-robot. It describes the advantages of dividing the wheeled-walking platform into two different platforms. An overview of the docking mechanism designs is presented. A table of advantages and disadvantages of each of the docking mechanisms is given.

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9

CHILDRESS, STEPHEN. "Walking on water." Journal of Fluid Mechanics 644 (February 10, 2010): 1–4. http://dx.doi.org/10.1017/s0022112009993107.

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Many insects and spiders can travel on the water surface by rapid synchronized movements of the legs. It has been found that frictional forces, capillary waves and the creation of water jets and eddies beneath the fluid surface are all involved in the mechanisms of propulsion used by these creatures. Elaborate adaptations of the body structure mediate the wetting and de-wetting of the body surface to provide support and differential adhesion. Flow visualization as well as theoretical modelling have led to an understanding of the mechanisms invoked by water striders and spiders for water walking with a variety of gaits and speeds.

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10

Fernández Menéndez, Aitor, Mathieu Saubade, Grégoire P. Millet, and Davide Malatesta. "Energy-saving walking mechanisms in obese adults." Journal of Applied Physiology 126, no. 5 (May 1, 2019): 1250–58. http://dx.doi.org/10.1152/japplphysiol.00473.2018.

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Energy-saving mechanisms are used in human walking. In obese adults the energy cost of walking (Cw) is higher compared with normal-body mass adults. However, the biomechanical factors involved in this extra cost should result in a higher Cw. The aim of this study was to compare energy-saving walking mechanisms [i.e., mechanical energy saved via pendulum (Recovery) and maximum possible elastic energy usage (MPEEu)] and their influence on Cw in obese vs. lean individuals. The net Cw (NetCw), external work (Wext), Recovery, MPEEu, and gait weight transfer duration (gWT) were computed for 13 lean [L; body mass index (BMI) 21.9 ± 1.5 kg/m2] and 13 obese (O; BMI 33.8 ± 2.5 kg/m2) individuals during treadmill walking at five speeds (0.56, 0.83, 1.11, 1.39, 1.67 m/s). No significant difference was found between groups in relative (per kg of body mass) NetCw ( P = 0.13). Relative positive Wext was significantly lower at the three fastest speeds ( P ≤ 0.003) whereas Recovery was higher at the two fastest speeds ( P ≤ 0.01) in O than in L individuals. MPEEu tended to be lower in O than in L ( P = 0.06), with significantly lower values in O compared with L at 1.39 and 1.67 m/s ( P ≤ 0.017). gWT was significantly shorter in O than in L individuals at 1.67 m/s ( P = 0.001). The present results reveal that obese adults rely more on the pendular mechanism than on the storage and release of elastic energy for decreasing the amount of positive Wext and thus limiting the increase in the relative NetCw. NEW & NOTEWORTHY We observed that obese individuals had a lower maximum possible elastic energy usage per kilogram of body mass than their lean counterparts and they may rely more on the pendular mechanism of walking than on the storage and release of elastic energy for decreasing the external mechanical work and thus limiting the increase in the relative net energy cost of walking.

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11

Carter, Nicholas J., and Robert A. Cross. "Kinesin backsteps." Biochemical Society Transactions 40, no. 2 (March 21, 2012): 400–403. http://dx.doi.org/10.1042/bst20120008.

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Kinesin-1 is a walking machine that takes ~8 nm steps along microtubules. Some aspects of the molecular mechanism of walking are now clear, but many are not. In the present paper, we discuss currently controversial points, focusing on the pathways by which kinesin takes occasional backsteps. Backsteps represent failures of the forwards-biasing mechanism. By studying the mechanochemistry of backstepping, one can learn much about the underlying molecular mechanisms responsible for forwards directional bias in the walking action.

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12

Poom, Leo, and Henrik Olsson. "Are Mechanisms for Perception of Biological Motion Different from Mechanisms for Perception of Nonbiological Motion?" Perceptual and Motor Skills 95, no. 3_suppl (December 2002): 1301–10. http://dx.doi.org/10.2466/pms.2002.95.3f.1301.

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We compared the integration of information over space and time for perceiving different configurations of moving dots: a walking person (biological motion), rigid three-dimensional shapes, and unidirectional coherent motion of all dots (translation). No performance differences in judging walking direction and coherent translation direction were obtained in conditions with constant presentation times and varying number of target dots (integration over space). Depending on the speed of the two-dimensional configurations judgments were either worse or better than the judgments of walking direction. The results for conditions with different presentation times (integration over time) show that information about biological motion is integrated over time that increases with increasing gait period, while two-dimensional unidirectional motion is integrated over constant time independent of speed. The effect is not due to the oscillatory nature of the biological motion since information about a rigid three-dimensional shape is summed over a constant time independent of the period of the motion cycle. This could be interpreted as different neural mechanisms mediating the temporal summation for walking direction compared to detecting the orientation of rigid structure, or the direction of two-dimensional unidirectional motion. Since biological motion is characterized by nonrigidity, it is possible that the form itself is integrated over time and not the motion pattern.

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13

Reimann, Hendrik, Tyler D. Fettrow, Elizabeth D. Thompson, Peter Agada, Bradford J. McFadyen, and John J. Jeka. "Complementary mechanisms for upright balance during walking." PLOS ONE 12, no. 2 (February 24, 2017): e0172215. http://dx.doi.org/10.1371/journal.pone.0172215.

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14

Alexander, R. M. "Energy-saving mechanisms in walking and running." Journal of Experimental Biology 160, no. 1 (October 1, 1991): 55–69. http://dx.doi.org/10.1242/jeb.160.1.55.

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Energy can be saved in terrestrial locomotion in many different ways. The maximum shortening speeds (Vmax) of the muscles can be adjusted to their optimum values for the tasks required of them. The moments exerted by the muscles at different joints can be adjusted to keep the ground force in line with the leg so that muscles do not work against each other. The joints of the legs can be kept as straight as possible, minimizing muscle forces and work requirements. Walking gaits should be selected at low Froude numbers (a dimensionless speed parameter) and running gaits at high Froude numbers. Tendon and other springs can be used to store elastic strain energy and to return it by elastic recoil. This paper aims to show how these energy-saving mechanisms work and to what extent mammals exploit them. Arguments based on our rather limited knowledge of the relationship between the mechanical performance of muscle and its metabolic energy consumption are used throughout. They suggest that muscles that are optimally adapted for their tasks in running should do positive work with constant efficiency.

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15

Cui, Bing Yan, and Li Wen Chen. "Analysis of Kinematics and Design of Structure Parameters for a Bionic Parallel Leg." Journal of Biomimetics, Biomaterials and Biomedical Engineering 20 (June 2014): 23–33. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.20.23.

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This paper proposed a novel bionic walking leg which has three branches of 6-DOF, using 3-UPS parallel mechanism as the prototype, it has good advantage of compact structure and strong bearing capacity. Kinematics research of mechanism is very important, the dynamic analysis and the design are based on kinematics analysis. And the kinematics performance of the bionic walking leg is analyzed and the structure parameters are optimized. First, the kinematics transmission equation of the bionic walking leg is established, and using the norm theory the kinematics performance evaluation indexes are defined, and kinematics characteristics are analyzed. Then, application space model theory the structure parameters of the bionic walking leg are designed, and using of the Monte Carlo parameters selecting method based on the global kinematics performance atlas, the optimal structural parameters are given. Analysis results show that kinematics transmission performance indexes display the symmetric distribution of the bionic walking leg, the static platform radius is 120mm, moving platform radius is 50mm, and the height of the static platform and moving platform initial posture is 700mm. Finally, using the optimal structural size parameters, the virtual prototype of the bionic walking leg is designed. So,it has very important significances of theory and engineering to study and open out parallel mechanisms as the leg mechanisms of bionic walking legs.

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16

Tao, Liangyu, Siddhi Ozarkar, and Vikas Bhandawat. "Mechanisms underlying attraction to odors in walking Drosophila." PLOS Computational Biology 16, no. 3 (March 30, 2020): e1007718. http://dx.doi.org/10.1371/journal.pcbi.1007718.

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17

Cruse, Holk. "What mechanisms coordinate leg movement in walking arthropods?" Trends in Neurosciences 13, no. 1 (January 1990): 15–21. http://dx.doi.org/10.1016/0166-2236(90)90057-h.

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18

Sasaki, Kotaro, Richard R. Neptune, Judith M. Burnfield, and Sara J. Mulroy. "Muscle compensatory mechanisms during able-bodied toe walking." Gait & Posture 27, no. 3 (April 2008): 440–46. http://dx.doi.org/10.1016/j.gaitpost.2007.05.012.

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19

Petrovic, Milena, and Aleksandar Rodic. "Synthesis of adaptive impedance control for bipedal robot mechanisms." Journal of Automatic Control 18, no. 1 (2008): 15–18. http://dx.doi.org/10.2298/jac0801015p.

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The paper describes the impedance algorithm in locomotion of humanoid robot with proposed parameter modulation depending on the gate phase. The analysis shows influence of walking speed and foot elevation on regulator's parameters. Chosen criterion cares for footpath tracking and needed energy for that way of walking. The experiments give recommendation for impedance regulator tuning.

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20

Seebacher, Barbara, Raija Kuisma, Angela Glynn, and Thomas Berger. "Effects and mechanisms of differently cued and non-cued motor imagery in people with multiple sclerosis: A randomised controlled trial." Multiple Sclerosis Journal 25, no. 12 (August 14, 2018): 1593–604. http://dx.doi.org/10.1177/1352458518795332.

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Background: Walking impairment and fatigue are prevalent symptoms in people with multiple sclerosis (PwMS). Motor imagery (MI) with rhythmic auditory cueing improved walking in PwMS, but so far, the underlying mechanisms are not fully explored. Objective: This study investigated the effects and mechanisms of differently cued and non-cued MI on walking, fatigue and quality of life (QoL) in PwMS. Methods: A total of 60 PwMS with mild to moderate disability were randomised to music- and verbally cued MI (MVMI), music-cued MI (MMI) or MI. Participants practised cued or non-cued MI of walking for 17 minutes, six times per week for 4 weeks at home. Primary outcomes were walking speed (timed 25-foot walk) and walking distance (6-minute walk test). Results: A total of 59 participants completed the study. All interventions induced significant improvements in walking speed and distance, while MVMI was superior. After cued MI, fatigue and QoL significantly improved, with greatest changes seen after MVMI. All participants showed high MI ability. Post-intervention, sensorimotor synchronisation (SMS) was significantly more accurate after cued MI. Conclusion: All interventions significantly improved walking. MVMI was superior in improving walking, fatigue and QoL. Results suggest that MI and SMS were mechanisms of action.

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21

Miao, Yunjie, Feng Gao, and Dalei Pan. "Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 1 (April 17, 2014): 155–67. http://dx.doi.org/10.1177/0954406214532078.

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A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances.

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22

Ruan, Qiang, Yan-an Yao, and Jian-xu Wu. "Analysis and experiments on a novel smoothly moving low-DoF multilegged robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 1 (May 12, 2019): 302–17. http://dx.doi.org/10.1177/0954406219848468.

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SmooBot, a novel low-degree-of-freedom multilegged robot with a smoothly moving platform is proposed in the paper, which is aimed at helping people do the delivery jobs in the industrial site. Cam compensation mechanisms are applied to the robot so the platform keeps smoothly moving while the robot is walking. With the special design of the compensation mechanism, the height, velocity, and attitude of the platform almost keep constant. The motion input of the compensation mechanism shares the same continuous rotation with the mechanical legs and remain the compact structure. The cam mechanisms are designed based on the kinematics analysis of the mechanical legs. The walking simulations and prototype experiments are carried out to testify the theoretical analysis. Based on the simulation and experiment results, the enhancements of the compensation mechanisms in the platform smoothness and the energy efficiency are discussed. The study in the paper provides a new idea to enable a low-degree-of-freedom multilegged robot to have a smoothly moving platform and to carry heavy load at a high speed by using the cam compensation mechanisms.

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23

Utsumi, Makoto, Takashi Kato, and Shinji Yamakawa. "Mechanisms of Inner Skeleton Frame Type Biped Walking Robot." Journal of the Robotics Society of Japan 16, no. 4 (1998): 491–98. http://dx.doi.org/10.7210/jrsj.16.491.

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24

Vitenson, A. S., and K. A. Petrushanskaya. "Some mechanisms of voluntary control of walking in humans." Human Physiology 34, no. 6 (November 2008): 754–61. http://dx.doi.org/10.1134/s0362119708060145.

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25

Drew, Trevor, Jacques-Etienne Andujar, Kim Lajoie, and Sergiy Yakovenko. "Cortical mechanisms involved in visuomotor coordination during precision walking." Brain Research Reviews 57, no. 1 (January 2008): 199–211. http://dx.doi.org/10.1016/j.brainresrev.2007.07.017.

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26

Bello, Olalla, Gonzalo Marquez, Miguel Camblor, and Miguel Fernandez-Del-Olmo. "Mechanisms involved in treadmill walking improvements in Parkinson's disease." Gait & Posture 32, no. 1 (May 2010): 118–23. http://dx.doi.org/10.1016/j.gaitpost.2010.04.015.

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27

Muto, Takeshi, and Yoshihiro Miyake. "Dual-Hierarchical Control Mechanism of Interpersonal Embodied Interactions in Cooperative Walking." Journal of Advanced Computational Intelligence and Intelligent Informatics 15, no. 5 (July 20, 2011): 534–44. http://dx.doi.org/10.20965/jaciii.2011.p0534.

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Interpersonal embodied interactions play a significant role as emergent functions in human development and rehabilitation. However, a framework for applying embodied interactions to “human interface systems” to support such emergent functions has not yet been suggested because the details of the motorcontrol mechanism have not yet been clarified. In this study, the interpersonal cooperative walking motions of two humans, as an example of such a mechanism, have been replicated and their motor-control mechanisms analyzed. The results indicate that the hierarchical dynamics were derived from an interpersonal footstep entrainment process and an intrapersonal interaction of arm and footstep motions. We suggest that embodied interactions in cooperative walking are achieved by a dual-hierarchical control structure related to emergence of the phase-control function of interpersonal cooperative walking, based on an automatic control mechanism for interpersonal entrainment of footstep motions and an intrapersonal voluntary-motion-control mechanism.

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28

Yokomichi, Takumi, and Nobuhiro Ushimi. "A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion." Journal of Robotics and Mechatronics 24, no. 5 (October 20, 2012): 902–7. http://dx.doi.org/10.20965/jrm.2012.p0902.

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This paper describes the study of a biped robot foot sole mechanism for use in unknown rough terrain locomotion. The mechanism has a structure consisting of three toes and frictional locking and unlocking mechanisms. The mechanisms level the bottom of the biped robot’s foot by using the three toes when on unknown rough terrain. To stabilize the sole of the biped robot on a level surface, the frictional locking and unlocking mechanisms of the three toes are used for the sole mechanism. Stable walking control of the biped robot is simplified by the sole mechanism we developed.

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Sichting, Freddy, and Florian Ebrecht. "The rise of the longitudinal arch when sitting, standing, and walking: Contributions of the windlass mechanism." PLOS ONE 16, no. 4 (April 8, 2021): e0249965. http://dx.doi.org/10.1371/journal.pone.0249965.

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The original windlass mechanism describes a one-to-one coupling between metatarsal joint dorsiflexion and medial longitudinal arch rise. The description assumes a sufficiently stiff plantar aponeurosis and absence of foot muscle activity. However, recent research calls for a broader interpretation of the windlass mechanism that accounts for an extensible plantar aponeurosis and active foot muscles. In this study, we investigate the rise of the arch in response to toe dorsiflexion when sitting, standing, and walking to discuss the windlass mechanism’s contributions in static and dynamic load scenarios. 3D motion analysis allowed a kinematic investigation of the rise and drop of the arch relative to the extent of toe dorsiflexion. The results suggest that static windlass effects poorly predict the relationship between arch dynamics and metatarsophalangeal joint motion during dynamic load scenarios, such as walking. We were able to show that toe dorsiflexion resulted in an immediate rise of the longitudinal arch during sitting and standing. In contrast, a decrease in arch height was observed during walking, despite toe dorsiflexion at the beginning of the push-off phase. Further, the longitudinal arch rose almost linearly with toe dorsiflexion in the static loading scenarios, while the dynamic load scenario revealed an exponential rise of the arch. In addition to that, the rate of change in arch height relative to toe motion was significantly lower when sitting and standing compared to walking. Finally, and most surprisingly, arch rise was found to correlate with toe dorsiflexion only in the dynamic loading scenario. These results challenge the traditional perspective of the windlass mechanism as the dominating source of foot rigidity for push-off against the ground during bipedal walking. It seems plausible that other mechanisms besides the windlass act to raise the foot arch.

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30

Noda, Shintaro, Fumihito Sugai, Kunio Kojima, Kim-Ngoc-Khanh Nguyen, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba. "Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification." International Journal of Humanoid Robotics 17, no. 02 (February 18, 2020): 2050012. http://dx.doi.org/10.1142/s0219843620500127.

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We developed a bipedal robot equipped with brake and clutch mechanisms to change the number of active and passive joints, thereby enabling various types of movements including normal active walking using 12-dof joints, under-actuated walking using brake, and passive-based walking using clutch and passive joints. In this paper, we describe three technologies to achieve the proposed system and show experimental results on active and semi-passive walking. The first technology comprises a small and high-strength clutch mechanism to sustain the massive weight of life-sized robots using actuators for joint and dog clutch control. The second technology comprises a walking controller using a simulation-based optimization technique to consider passive joint dynamics instead of depending on the inverse kinematics problem, thereby enabling the control of the under-actuated leg. The last technology is model parameter identification to achieve unstable passive-based walking in real-world considering the body as well as environmental parameters such as ground slope. To the best of our knowledge, the proposed robot is the first to achieve both active and passive-based walking using a bipedal body. This enables the implementation of the passive-walking technology to active-joint robots and expands the application possibility of passive joint for bipedal robots.

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31

Lim, Hun-ok, Y. Ogura, and Atsuo Takanishi. "Locomotion pattern generation and mechanisms of a new biped walking machine." Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences 464, no. 2089 (November 5, 2007): 273–88. http://dx.doi.org/10.1098/rspa.2007.1908.

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This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200 mm and 40 kg, respectively. It is able to walk with its knees stretched using the redundancy of the legs and to move around an object using a hip-bending motion without touching the object. A knee-stretched locomotion pattern generation is also proposed in this paper, which separately creates joint angles in a supporting and a swinging phase. During knee-stretched walking, the joint rate of the knee will approach infinitely when the knee is stretched. This singularity problem is solved by using the motion of the waist, not the posture of the trunk. The effectiveness of the mechanisms and pattern generations of WABIAN-2LL is verified through dynamic walking experiments.

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Shahabpoor, Erfan, Aleksandar Pavic, and Vitomir Racic. "Interaction between Walking Humans and Structures in Vertical Direction: A Literature Review." Shock and Vibration 2016 (2016): 1–22. http://dx.doi.org/10.1155/2016/3430285.

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Realistic simulation of the dynamic effects of walking pedestrians on structures is still a considerable challenge. This is mainly due to the inter- and intrasubject variability of humans and their bodies and difficult-to-predict loading scenarios, including multipedestrian walking traffic and unknown human-structure interaction (HSI) mechanisms. Over the past three decades, several attempts have been made to simulate walking HSI in the lateral direction. However, research into the mechanisms of this interaction in the vertical direction, despite its higher likelihood and critical importance, is fragmented and incoherent. It is, therefore, difficult to apply and codify. This paper critically reviews the efforts to date to simulate walking HSI in the vertical direction and highlights the key areas that need further investigation.

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McDermott, Mary M., Sudarshan Dayanidhi, Kate Kosmac, Sunil Saini, Joshua Slysz, Christiaan Leeuwenburgh, Lisa Hartnell, Robert Sufit, and Luigi Ferrucci. "Walking Exercise Therapy Effects on Lower Extremity Skeletal Muscle in Peripheral Artery Disease." Circulation Research 128, no. 12 (June 11, 2021): 1851–67. http://dx.doi.org/10.1161/circresaha.121.318242.

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Walking exercise is the most effective noninvasive therapy that improves walking ability in peripheral artery disease (PAD). Biologic mechanisms by which exercise improves walking in PAD are unclear. This review summarizes evidence regarding effects of walking exercise on lower extremity skeletal muscle in PAD. In older people without PAD, aerobic exercise improves mitochondrial activity, muscle mass, capillary density, and insulin sensitivity in skeletal muscle. However, walking exercise increases lower extremity ischemia in people with PAD, and therefore, mechanisms by which this exercise improves walking may differ between people with and without PAD. Compared with people without PAD, gastrocnemius muscle in people with PAD has greater mitochondrial impairment, increased reactive oxygen species, and increased fibrosis. In multiple small trials, walking exercise therapy did not consistently improve mitochondrial activity in people with PAD. In one 12-week randomized trial of people with PAD randomized to supervised exercise or control, supervised treadmill exercise increased treadmill walking time from 9.3 to 15.1 minutes, but simultaneously increased the proportion of angular muscle fibers, consistent with muscle denervation (from 7.6% to 15.6%), while angular myofibers did not change in the control group (from 9.1% to 9.1%). These findings suggest an adaptive response to exercise in PAD that includes denervation and reinnervation, an adaptive process observed in skeletal muscle of people without PAD during aging. Small studies have not shown significant effects of exercise on increased capillary density in lower extremity skeletal muscle of participants with PAD, and there are no data showing that exercise improves microcirculatory delivery of oxygen and nutrients in patients with PAD. However, the effects of supervised exercise on increased plasma nitrite abundance after a treadmill walking test in people with PAD may be associated with improved lower extremity skeletal muscle perfusion and may contribute to improved walking performance in response to exercise in people with PAD. Randomized trials with serial, comprehensive measures of muscle biology, and physiology are needed to clarify mechanisms by which walking exercise interventions improve mobility in PAD.

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Doroftei, Ioan, and Florentina Adăscălitei. "A Hexapod Walking Micro-Robot with Compliant Legs." Applied Mechanics and Materials 162 (March 2012): 234–41. http://dx.doi.org/10.4028/www.scientific.net/amm.162.234.

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The conventional mechanisms with stiff joints make the robots more complex, heavy, large and expensive. As walking robots are requested to perform tasks in rough terrain, the development of actuators capable to flexibly adapt to the unstructured environment becomes more and more necessary. Biological mechanisms like legs with high effectiveness and developing high forces are very common in nature. This is why introducing such structures in robotics is one of the most popular research in biomimetics. A wide variety of artificial muscles as actuators in robotics have been investigated till now. Shape Memory Alloys are a category of such artificial muscles which can be used as actuators in the structure of a biomimetic walking robot. In this paper, mechanisms that can convert the small strain of a SMA wire into large motion, used as legs for a hexapod walking micro-robot, are discussed.

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Suslov, Nikolay, and Stanislav Chernukhin. "Determination of the working area of a hydraulic excavator." E3S Web of Conferences 177 (2020): 03016. http://dx.doi.org/10.1051/e3sconf/202017703016.

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The article discusses the mechanisms of walking used on dragline excavators. The disadvantages of each mechanism are identified and based on this, the most promising movement mechanism is selected – a three-legged walking mechanism with a hydraulic drive. For this mechanism, the main disadvantages are also identified. The following is a technical solution that allows you to save this mechanism from the main drawback – the need to raise the center of mass of the excavator to a significant height to ensure the maximum step value. The technical solution includes the presence of a flat hydrostatic support that allows to increase the efficiency of the mechanism in open-pit mining operations. The calculation of oil consumption through a flat hydrostatic support in the conditions of its use on quarry soils with different bearing capacity is made.

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Murayama, M., and M. Takahata. "Sensory control mechanisms of the uropod equilibrium reflex during walking in the crayfish Procambarus clarkii." Journal of Experimental Biology 199, no. 3 (March 1, 1996): 521–28. http://dx.doi.org/10.1242/jeb.199.3.521.

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The temporal characteristics of statocyst and leg proprioceptive inputs to the uropod motor system were investigated in crayfish using behavioural and electromyographic analyses to elucidate their functional roles in the control of the uropod steering response under natural conditions. When the animal, which was suspended in the air without a footboard, was actively extending its abdomen, prolonged stimulation of the statocysts by body rolling elicited a maintained asymmetrical configuration of the bilateral uropods. Prolonged stimulation of the walking legs by footboard tilting with the animal body held in the upright position elicited a transient uropod response. When the treadmill was tilted while the animal was walking on it in the upright position, the uropods showed the same transient response. However, when the animal body was rolled, together with the treadmill, while the animal was walking on it, the uropods showed a transient response which was reversed in direction compared with that observed during body rolling without a footboard. This transient response was abolished by the removal of the statoliths. The results show that the statocysts and leg proprioceptors exert sustained and transient control effects, respectively, on the uropod motor system during walking. It is also suggested that the uropod response to body rolling during walking is controlled primarily by leg proprioceptor signals which result from statocyst-induced changes in the leg position.

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Kelly, Valerie E., Alexis J. Eusterbrock, and Anne Shumway-Cook. "A Review of Dual-Task Walking Deficits in People with Parkinson's Disease: Motor and Cognitive Contributions, Mechanisms, and Clinical Implications." Parkinson's Disease 2012 (2012): 1–14. http://dx.doi.org/10.1155/2012/918719.

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Gait impairments in Parkinson's disease (PD) are exacerbated under dual-task conditions requiring the simultaneous performance of cognitive or motor tasks. Dual-task walking deficits impact functional mobility, which often requires walking while performing concurrent tasks such as talking or carrying an object. The consequences of gait impairments in PD are significant and include increased disability, increased fall risk, and reduced quality of life. However, effective therapeutic interventions for dual-task walking deficits are limited. The goals of this narrative review are to describe dual-task walking deficits in people with PD, to discuss motor and cognitive factors that may contribute to these deficits, to review potential mechanisms underlying dual-task deficits, and to discuss the effect of therapeutic interventions on dual-task walking deficits in persons with PD.

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Yeater, Taylor D., David J. Clark, Lorraine Hoyos, Pedro A. Valdes-Hernandez, Julio A. Peraza, Kyle D. Allen, and Yenisel Cruz-Almeida. "Chronic Pain is Associated With Reduced Sympathetic Nervous System Reactivity During Simple and Complex Walking Tasks: Potential Cerebral Mechanisms." Chronic Stress 5 (January 2021): 247054702110302. http://dx.doi.org/10.1177/24705470211030273.

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Background Autonomic dysregulation may lead to blunted sympathetic reactivity in chronic pain states. Autonomic responses are controlled by the central autonomic network (CAN). Little research has examined sympathetic reactivity and associations with brain CAN structures in the presence of chronic pain; thus, the present study aims to investigate how chronic pain influences sympathetic reactivity and associations with CAN brain region volumes. Methods Sympathetic reactivity was measured as change in skin conductance level (ΔSCL) between a resting reference period and walking periods for typical and complex walking tasks (obstacle and dual-task). Participants included 31 people with (n = 19) and without (n = 12) chronic musculoskeletal pain. Structural 3 T MRI was used to determine gray matter volume associations with ΔSCL in regions of the CAN (i.e., brainstem, amygdala, insula, and anterior cingulate cortex). Results ΔSCL varied across walking tasks (main effect p = 0.036), with lower ΔSCL in chronic pain participants compared to controls across trials 2 and 3 under the obstacle walking condition. ΔSCL during typical walking was associated with multiple CAN gray matter volumes, including brainstem, bilateral insula, amygdala, and right caudal anterior cingulate cortex (p’s < 0.05). The difference in ΔSCL from typical-to-obstacle walking were associated with volumes of the midbrain segment of the brainstem and anterior segment of the circular sulcus of the insula (p’s < 0.05), with no other significant associations. The difference in ΔSCL from typical-to-dual task walking was associated with the bilateral caudal anterior cingulate cortex, and left rostral cingulate cortex (p’s < 0.05). Conclusions Sympathetic reactivity is blunted during typical and complex walking tasks in persons with chronic pain. Additionally, blunted sympathetic reactivity is associated with CAN brain structure, with direction of association dependent on brain region. These results support the idea that chronic pain may negatively impact typical autonomic responses needed for walking performance via its potential impact on the brain.

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Kim, Byoung-Ho. "Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots." International Journal of Advanced Robotic Systems 10, no. 9 (January 2013): 334. http://dx.doi.org/10.5772/56926.

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Simonsen, E. B., P. Dyhre-Poulsen, M. Voigt, P. Aagaard, and N. Fallentins. "Mechanisms contributing to different joint moments observed during human walking." Scandinavian Journal of Medicine & Science in Sports 7, no. 1 (January 30, 2007): 1–13. http://dx.doi.org/10.1111/j.1600-0838.1997.tb00110.x.

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Suwalai, Warawut. "Construct and control of feet gait mechanisms for walking training." MATEC Web of Conferences 192 (2018): 02009. http://dx.doi.org/10.1051/matecconf/201819202009.

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Gait training or gait rehabilitation is one of the major physiotherapy for stroke patients. Evidently, the robot-assisted gait training, as one part of medical technology innovation breakthrough, has important role in the rehabilitation process. The robot effectively improves treatment outcomes, fast recovery time and better convenience from traditional treatment. Typically, stroke patients are trained to walk on treadmill while a physiotherapist carefully supports and re-correct the gait pattern of the patient. For repetitive and long-time rehabilitation, it is so difficult that the physiotherapist can maintain the quality of treatment consistently. To solve such difficulties, the robotic platform is proposed for automatic guiding the gait pattern for ankle rehabilitation. The robot consists of left and right sides. Each of them is actuated by two linear and one rotational actuator. PID algorithm is implemented for position control of each joint. The experimental results show the tracking error in non-loaded and loaded cases.

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TAKITA, Yoshihiro, and Nobuhiro SHIMOI. "Walking Control of Self-Standing Quadrupedal Robot with YT-Mechanisms." Transactions of the Japan Society of Mechanical Engineers Series C 62, no. 593 (1996): 188–93. http://dx.doi.org/10.1299/kikaic.62.188.

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Shiroguchi, Katsuyuki. "S13H5 Mechanisms of myosin V walking(Common mechanism found in diversity among various biological motors)." Seibutsu Butsuri 47, supplement (2007): S19. http://dx.doi.org/10.2142/biophys.47.s19_4.

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FUNABASHI, Hiroaki, Kiyoshi OGAWA, Iwao HONDA, and Nobuyuki IWATSUKI. "Synthesis of Leg-Mechanisms of Biped Walking Machines : Part II, Synthesis of Foot-Driving Mechanism." Bulletin of JSME 28, no. 237 (1985): 544–49. http://dx.doi.org/10.1299/jsme1958.28.544.

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Yokoyama, Hikaru, Takashi Yoshida, Karl Zabjek, Robert Chen, and Kei Masani. "Defective corticomuscular connectivity during walking in patients with Parkinson’s disease." Journal of Neurophysiology 124, no. 5 (November 1, 2020): 1399–414. http://dx.doi.org/10.1152/jn.00109.2020.

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Mechanisms behind how Parkinson’s disease (PD) affects cortical control of muscles during walking remain unclear. As PD typically develops in the elderly, investigation of aging effects is important to examine deficits regarding PD. Here, we demonstrated that PD causes weak corticomuscular synchronization during walking, but aging does not. This lower-than-normal corticomuscular communication may cause impaired muscle control during walking.

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Setiawan, Fery, I. Gusti Agung Sri Rwa Jayantini, Ida Bagus Gde Nova Winarta, and Ni Komang Arie Suwastini. "Facing Anxiety through Ego Defense Mechanisms on The Walking Dead: Michonne Movie Game." Journal of Language and Literature 21, no. 2 (September 20, 2021): 307–17. http://dx.doi.org/10.24071/joll.v21i2.3132.

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With the advancement of technology, a newly adopted form of literary work was found, known as a movie game. It is one of the game genres that resembles real movies that provide choices to the players who can actively determine the story, ending, and characters' action. In literary work, a character is one of the intrinsic elements that can be interestingly analyzed from the psychological perspective, including Ego Defense Mechanisms. This study focuses on how the protagonist in a movie game entitled The Walking Dead: Michonne faced her anxiety through her ego defense mechanisms. It aims to identify the types of ego defense mechanisms and how they can help the protagonist cope with her anxiety. The discussion was based on psychoanalysis theory, namely Ego Defense Mechanisms proposed by Sigmund Freud. This study elaborated the description of the protagonist's actions when she faced anxiety through a qualitative method. The analysis revealed that the protagonist adopted the four types of Ego Defense Mechanisms: repression, sublimation, rationalization, and aggression. It was found that aggression was the most frequently adopted mechanism, followed by sublimation, rationalization, and the least was repression. This finding indicated that the protagonist chose aggression to release resentment or dissatisfaction, especially when facing objects or other characters that create anxiety or frustration. It implies that the persistence of aggression, sublimation, rationalization, and repression could reflect the presence of continual threats in the environment from which people should survive.

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Aggogeri, Francesco, Nicola Pellegrini, and Riccardo Adamini. "Functional Design in Rehabilitation: Modular Mechanisms for Ankle Complex." Applied Bionics and Biomechanics 2016 (2016): 1–8. http://dx.doi.org/10.1155/2016/9707801.

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This paper is aimed at presenting an innovative ankle rehabilitation device based on a parallel mechanism. A functional analysis and design are described to obtain a device able to guarantee ankle movement while patient’s body remains stationary. Human ankle is a challenging context where a series of joints are highly integrated. The proposed rehabilitation device permits a patient with walking defects to improve his or her gait. The research focuses on plantar-flexion-dorsiflexion movement. The robust design starts from an accurate modelling of ankle movements during walking, assessing motion data from healthy individuals and patients. The kinematics analysis and functional evaluations lead the study and development of the articulated system. In particular, results of simulations support the effectiveness of the current design. A 3D prototype is presented highlighting that the ankle motion is successfully demonstrated.

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Arykantsev, V. V., V. V. Chernyshev, and N. G. Sharonov. "SELECTION OF SHAPE AND DIMENSIONS OF SUPPORT ELEMENT OF PAIRED ORTHOGONAL WALKING MOVER." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 9(256) (September 15, 2021): 12–16. http://dx.doi.org/10.35211/1990-5297-2021-9-256-12-16.

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The paper describes the principle of choosing the optimal size and shape of the supporting element of a walking machine, provided that the maximum possible contact area with the supporting surface is provided for moving on snow or soils with a low bearing capacity. The study was carried out for an orthogonal walking propulsion device, but it can also be used for walking mechanisms of other types.

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Chakraborty, J. K., and K. M. Patil. "A new modular six-bar linkage trans-femoral prosthesis for walking and squatting." Prosthetics and Orthotics International 18, no. 2 (August 1994): 98–108. http://dx.doi.org/10.3109/03093649409164391.

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Four-bar linkage mechanisms produced by many designers of knee joints for trans-femoral prostheses can provide knee rotation to permit walking only. In Afro-Asian countries people are accustomed to a squatting posture in their daily activities. A six-bar linkage knee-ankle mechanism trans-femoral prosthesis is described which was developed and fitted to an amputee. The motion patterns of the ankle, knee and thigh during walking and squatting (obtained using a flickering light emitting diode system) for the above prosthesis is compared with motion patterns obtained for normal subjects. The closeness between both the patterns establishes the suitability of the new modular trans-femoral prosthesis for producing near normal patterns of motion during walking and squatting. The additional facility of cross-legged sitting provided in the prosthesis makes it functionally suitable for Afro-Asian amputees.

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YIKEMOTO, YU, WENWEI YU, and U. RAJENDRA ACHARYA. "HUMAN REFLEXIVE RESPONSE AND ITS OBJECTIVE FUNCTION REGARDING BALANCE RECOVERY FROM PERTURBATION DURING WALKING." Journal of Mechanics in Medicine and Biology 11, no. 05 (December 2011): 1179–98. http://dx.doi.org/10.1142/s0219519411004204.

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Balance recovery from perturbation plays a crucial role in preventing people from falling during walking. Understanding the underlying mechanism of balance recovery during walking could not only bring new insights into the motor control field, but also benefit the development of walking assist systems for daily living environment, where perturbations to walking are frequently caused by slips, uneven terrain, slopes, obstacles, etc.It is evident that humans can cope with such perturbations, especially when the perturbations cannot be predicted or perceived in advance, by means of reflexes, which cause relatively fixed, unconscious muscular response patterns to perturbations within a short period of time ranging from several tens of ms to 200 ms. However, except for several hypotheses about the underlying neural mechanisms of the reflexes during walking, there is no widely accepted unified theory.In our previous study, a muscular-reflexive pattern was defined using muscle activity recorded during reflexive responses to slip perturbation. This is one important step toward the understanding of the underlying mechanism, since the pattern could serve as the quantitative target in pursuit of the underlying mechanism. We can speculate that this pattern is the optimal balance recovery behavior to human muscular-skeletal system, as a result of long evolution; however, before we use this target to guide our pursuit, we should first prove its optimality, while making clear the objective functions for balance recovery and the effect of morphological factors.Our approach includes (1) defining objective functions for balance recovery from a slip perturbation during walking; (2) using a bio-mimetic human walking simulator to perform evaluation according to the objective functions; (3) employing a genetic algorithm (GA) to search the optimal solutions, for different objective functions.Results showed that the muscular-reflexive pattern is optimal to the balance recovery from slip perturbation during walking, in terms of a hybrid evaluation measure (HEM), which takes both static and dynamic aspects of balance recovery into consideration.

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