Projects

Asymmetric Passive Dynamic Walkers

Passive dynamic walkers (PDW) are devices that are able to walk down a slope without any active feedback using gravity as the only energy source. In this research, we are examining asymmetric walking in a similar, but different approach, as the above Gait Enhancing Mobile Shoe Project. Typically, PDWs have used symmetric walkers (i.e., same masses and lengths on each side), which generally results in symmetric gaits. However, individuals with a stroke and individuals that wear a prosthetic do not have physical symmetry between both sides of their body. By changing one physical parameter on one of the two legs in the PDW, we can show a number of stable asymmetric gait patterns where one leg has a consistenty different step length than the other, as shown on the right. The figure on the right has the right knee moved up the leg. This asymmetric model of walking will enable us to test the effect of different physical changes on how individuals will alter their gait.