• Gait cycle segmentation using inverted pendulum model of walking • Direct integration of accelerations • Real-time algorithm in Matlab/Simulink Real Time Workshop/Real Time Windows Target • Accurate speed estimation with 7% error • Useful for control of prostheses, orthoses, exoskeletons and energy harvesters

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1. State the problem briefly.
2. Describe the methodology.
3. Summarize the findings.
ProQuest recommends that the Abstract be no longer than 350 words, as it may be posted to sites with limited file size

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The seven articles in this special section focus on rehabilitation via bio-cooperative control. In this special section, the idea of bio-cooperative control has been applied to different kinds of rehabilitation devices (e.g., exoskeletal robots, end-effector robots, wheelchairs) used for the training of gait or arm movements or for the assessment of entire body activity of healthy subjects and patients with stroke or other neurological disorders.

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I pazienti paraplegici, a causa di una lesione completa del midollo spinale, perdono le afferenze per il controllo motorio e sensitivo della parte inferiore del corpo: i comandi provenienti dalle zone di controllo motorio del cervello non giungono a destinazione e, quindi, i muscoli, pur ancora innervati, non possono essere contratti se le radici motorie di questi ultimi sono ad un livello inferiore rispetto a quello della lesione midollare. Una delle conseguenze è la paralisi degli arti inferiori. In Italia si stima vi siano, ogni anno, circa 1.800 nuovi casi (in prevalenza conseguenza di traumi derivanti da incidenti stradali e da infortuni sul lavoro) ed una popolazione complessiva di circa 80.000 paraplegici.

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A teleoperation system for whole body motions of a humanoid robot using a simple joystick master device is developed. Humanoid robots are physically similar to humans and usually possess a large number of degrees of freedom. By using hints from the shifting of the focus of attention for body motions between the joints of the human body during task executions, we propose a switching command based teleoperation system in which the operator selects only the necessary point of the humanoid robot’s body for manipulation. In this paper, we present the implementation of this switching command based teleoperation system and experimental results using this system to teleoperate the humanoid robot HRP-1S developed in the Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan.

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