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37seconds]) of heel ball walks was longer than the swing phase (0.
The last third of the swing phase is the period of gait cycle when the foot passes closest to the ground.
The support phase of every leg costs three quarters of the cycle time, and swing phase costs a quarter of the cycle time.
The straight line shown in the graph is the signal of the heel sensor, making it possible to determine the stance phase and swing phase.
This work sought to define the sequence of joint movements that allow a biped robot to make the swing phase of the right leg similar to that of humans by using motion capture data, the proposed control law will be validated in a planar biped robot with feet and actuated ankles.
During the obstacle steps, there was no difference in the swing phase duration between PD and healthy subjects (mean swing phase duration: PD subjects: 0.
The ankle shows a plantar flexion moment until mid-stance, which is decreased thereafter and consistently maintained during the swing phase (Gaudreault et al.
Briefly, the mechanical state of the stance limb predictably influences simultaneous swing phase hip abductor activity in the contralateral limb; swing phase activity is higher when the center of mass (CoM) is displaced farther mediolaterally from the stance foot.
In their paper, they describe two different impedance-based controllers to achieve locally passive control both during ground interaction and during the swing phase of a walking gait.