Fig. 1 Problem geometry setup. The foot with attached frame M moves in contact with two virtual objects that define the terrain geometry in the vicinity of a contact location, such that the trajectories of A and B have known radii of curvature, R A and R B , respecti... More about this image found in Problem geometry setup. The foot with attached frame M moves in contact w...

Fig. 2 ( a ) Natural walking gait cycle trajectories at foot and knee levels, obtained from Motion Capture System. Data for the additional two-foot trajectories observable from walking on sand are adopted from Ref. [ 19 ] and shown along with the desired teardrop foot trajectory. ( b ) The “relaxe... More about this image found in ( a ) Natural walking gait cycle trajectories at foot and knee levels, obta...

Fig. 3 ( a and b ) The motion of point G of the obtained four-bar linkage O A D C based on the scaled down “relaxed” kinematic task. The base pivots are denoted by O and C and the moving pivots are A and D . The trajectory of point G represents the actual knee motion of the eig... More about this image found in ( a and b ) The motion of point G of the obtained four-bar linkage O ...

Fig. 4 ( a ) Crank OA rotates the upper leg and leaves the lower leg in the same orientation. (b) Crank O′A′ rotates the lower leg and leaves the knee G fixed. (c) Initial mesh at 252.5 deg and the 7.5 deg reconfiguration kick More about this image found in ( a ) Crank OA rotates the upper leg and leaves the lower leg in the same o...

Fig. 5 Identified human-like foot trajectory patterns of interest. Row I: obstacle avoidance/climbing staircase at ( a ) 290 deg, ( b ) 282.5 deg, ( c ) 275 deg, ( d ) 267.5 deg, and ( e ) 260 deg. Row II: walking on soft/softer sandy ground/mud at ( f ) 252.5 deg, ( g ... More about this image found in Identified human-like foot trajectory patterns of interest. Row I: obstacle...

Fig. 6 ( a ) RH-KAFO design at the initial stance position moving through the teardrop shape trajectory (left) and RH-KAFO reconfigured (right): bottom gear is at the same position, while the top gear is at the configuration for the desired step climbing/obstacle avoidance trajectory. ( b ... More about this image found in ( a ) RH-KAFO design at the initial stance position moving through the ...

Fig. 7 ( a ) Kinematic model of the lower leg in the sagittal plane and ( b ) the 2R hip-knee leg model chosen by the designer and the trajectory traced by a marker placed at the distal end of the left foot of the user relative to a fixed thigh frame. The ankle is designed as a 3D passive ... More about this image found in ( a ) Kinematic model of the lower leg in the sagittal plane and ( b ...

Fig. 8 Experimental testing of the RH-KAFO. Comparison between the simulated and the RH-KAFO generated trajectories with regard to the desired object step climbing ( a − d ), comparison between the simulated and the RH-KAFO generated trajectories with regard to walking on soft sand/mud ( e... More about this image found in Experimental testing of the RH-KAFO. Comparison between the simulated and t...

Fig. 1 Hybrid structure in the ( a ) biological and ( b ) industrial fields More about this image found in Hybrid structure in the ( a ) biological and ( b ) industrial fields

Fig. 2 Forms of worm movement: ( a ) peristaltic motion, ( b ) Ω motion, and ( c ) rolling motion More about this image found in Forms of worm movement: ( a ) peristaltic motion, ( b ) Ω motion, and ( c )...

Fig. 3 Sketch of the HSCDPR arm More about this image found in Sketch of the HSCDPR arm

Fig. 4 Sketch of the HSCDPR More about this image found in Sketch of the HSCDPR

Fig. 5 Sketch of the kinematic model: ( a ) parallel platform, ( b ) URU branch, and ( c ) RSR branch More about this image found in Sketch of the kinematic model: ( a ) parallel platform, ( b ) URU branch, a...

Fig. 6 Sketch of the base platform and mobile platform coordinate More about this image found in Sketch of the base platform and mobile platform coordinate

Fig. 7 Sketch of the HSCDPR arm More about this image found in Sketch of the HSCDPR arm