A major challenge in designing technologies that are intended to work in direct contact with humans lies in achieving maximal coordination between the human and the technological device (robot), while minimizing interference with or restraint of the normal human behavior. This is particularly relevant to systems designed to assist in human walking. Our current study presents an innovative bio-inspired approach to ensure a robust and consistent coupling between a human and a four-legged walking-device, to assist in walking-related challenges. These can be, for example, cases of limited stability during walking (due to old age, or any walking-related pathology), a need for excessive load-carrying while walking, and more. We utilize ample previous knowledge of six-legged (insect) locomotion, its major advantages and related mechanisms, together with recent advances in monitoring human walking gait. We present a detailed computer simulation of the coordinated motion of a four-legged...

中文翻译：

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受昆虫六足运动启发的人类步行与四足步行装置的紧密结合

设计旨在与人类直接接触的技术的主要挑战在于，实现人类与技术设备（机器人）之间的最大协调，同时最大程度地减少对正常人类行为的干扰或束缚。这与旨在协助人类步行的系统特别相关。我们当前的研究提出了一种创新的，受生物启发的方法，可以确保人和四足步行设备之间稳固而一致的耦合，以协助应对与步行相关的挑战。例如，这些情况可能是步行过程中稳定性有限（由于年纪大或与步行有关的任何病理原因），步行时需要过度负重等情况。我们利用了六足（昆虫）运动的丰富知识，以及它的主要优点和相关机制，以及在监测人类步态方面的最新进展。我们为四足机器人的协调运动提供详细的计算机模拟。