Mobility analysis of human gait as underactuated mechanical system

【Author】

Ricardo E.Ramirez;

【Abstract】

<正>A model for a walking mechanism is proposed.The model has nine links representing the body and leg parts.It is a class of underactuated mechanisms and it is analyzed for a leg in the stance and swing phases of a step.Some of the joints are actuated and the others are non-actuated and modelled like a spring between

【Keywords】

Mobility analysis of human gait as underactuated mechanical system;body;

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