| Description |
1 online resource (174 pages) |
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text txt rdacontent |
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computer c rdamedia |
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online resource cr rdacarrier |
| Note |
Print version record. |
| Contents |
Front Cover; Design and Operation of Human Locomotion Systems; Copyright; Contents; Contributors; Chapter 1: Mechanism design for legged locomotion systems; 1. Introduction; 2. Characteristics of legged locomotion; 3. Existing legged locomotion systems; 4. Design considerations for legged locomotion systems; 5. Illustrative examples; 5.1. Biped robot with Chebyshev-linkage legs; 5.2. LARM hexapod series; 5.3. HeritageBot platform with parallel mechanism legs; 5.4. Exoskeleton leg mechanism; 6. Conclusions; References; Further reading |
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Chapter 2: Gait analysis and regeneration by means of principal component analysis and its application to kinematic desig ... 1. Introduction; 2. Gait analysis and generation based on principal component analysis; 2.1. Gait measurement using motion capture system; 2.2. Gait analysis based on principal component analysis; 2.3. Numerical example (design of assistive force trajectory for squatting motion); 3. Kinematic synthesis of a wearable walking assist device for hemiplegics; 3.1. Mechanism design of wearable walking assist device; 3.2. Joint input trajectory synthesis based on PCA |
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3.3. Selection of joints to be active ones4. Conclusions; References; Chapter 3: Multibody dynamics for human-like locomotion; 1. Introduction; 2. Stability in human-like locomotion; 3. One-leg mechanism model; 3.1. Kinematics; 3.1.1. Kinematics; 3.2. Dynamics; 3.2.1. Lock up or stiction; 3.2.2. Sliding; 3.3. Biped robot, gait design; 4. Control of and learning the balancing task; 4.1. Overview of artificial hydrocarbon networks; 4.2. Artificial organic controller for balancing the one-leg mechanism; 4.2.1. Artificial organic controllers; 4.2.2. Design of the artificial organic controller |
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4.3. AHN-based reinforcement learning for balancing the one-leg mechanism4.3.1. Initial data collection; 4.3.2. Learning of the dynamics model; 4.3.3. Policy search; 4.3.4. Updating of the dataset; 5. Experimental results; 5.1. Control of balancing task under disturbances; 5.2. Control of balancing task under noisy conditions; 5.3. Disturbance rejection; 5.4. Learning of balancing task; 6. Conclusions; Acknowledgments; References; Chapter 4: Human lower limb operation tracking via motion capture systems; 1. Introduction; 2. Analysis of human walking; 2.1. Overview of human walking |
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2.1.1. Stance phase2.1.2. Swing period; 2.1.3. Gait parameters; 2.1.4. Lower extremity angles in gait cycle; 3. Quantitative gait analysis; 3.1. An experimental layout; 3.2. Markers configuration; 4. Human walking analysis; 4.1. Joint centers location; 4.2. Ground reaction force; 5. Analysis of obstacle overcoming; 5.1. Overview of biped walking; 5.2. Obstacle overcoming analysis; 6. Conclusion; Acknowledgments; References; Chapter 5: Design and operation of exoskeletons for limb replacement or performance enhancement; 1. Introduction; 2. Biomechanical aspects of biped locomotion |
| Note |
3. Mechanical design and operation of exoskeletons |
| Subject |
Human-machine systems -- Design.
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Human locomotion.
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Locomotion humaine.
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Human locomotion
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Human-machine systems -- Design
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| Genre/Form |
Electronic books.
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| Added Author |
Ceccarrelli, Marco, editor.
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Carbone, Guiseppe, editor.
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| Other Form: |
Print version: Ceccarrelli, Marco. Design and Operation of Human Locomotion Systems. San Diego : Elsevier Science & Technology, ©2019 9780128156599 |
| ISBN |
0128156600 |
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9780128156605 (electronic bk.) |
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9780128156599 (pbk.) |
| Standard No. |
AU@ 000066109400 |
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AU@ 000066138862 |
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UKMGB 019541129 |
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