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Ivanka Veneva, Bram Vanderborght, Dirk Lefeber and Pierre Cherelle

-foot Exoskeleton. Gait & Posture, 29 (2009), No. 1, 6-10. [15] Winter, D. A. The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological. Waterloo Biomechancs, 2, 1991, second edt. [16] van der Linde, R. Q. Design, Analysis and Control of a Low Power Joint for Walking Robots, by Phasic Activation of Mckibben Muscles. IEEE Transactions on Robotics and Automation, 15 (1999), No. 4, 599-604. [17] Daerden, F., B. Verrelst, Lefeber, P. Kool. ControllingMotion and Com- pliance with Folded Pneumatic Artificial

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Mihail Tsveov and Dimitar Chakarov

Compliant Actuation in Wearable Robotic Systems, US-Korea Conference on Science, Technology and Entre- preneurship UKC2004, 2004, 1-7. [5] Hollander, K. W., T. G. Sugar, D. E. Herring. A Robotic ‘Jack Spring’ For Ankle Gait Assistance, Proceedings of IDETC/CIE 2005, ASME 2005 International Design Engineering Technical Conferences, California, Long Beach, 2005, 25-34. [6] Kawamur, S., T. Yamamoto, D. Ishida, T. Ogata, Y. Nakayama, Tabat, S. Sugiyama. Development of Passive Elements with Variable Mechanical Im- pedance for Wearable Robots