Experimental study of a novel actively assisted bipedal walker – simulation, modeling and experiment
This thesis covers the study of an actively assisted passive walker with discontinuous and impulsive actuation. The dynamics of the passive and active portions are derived, and a comprehensive mathematical model is proposed. An actuation method is also proposed to study the use of multiple discrete...
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2015
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| Online Access: | http://hdl.handle.net/1993/30369 |