Effect of increase in single support phase on walking speed of a biped robot

A model based study of a quantitative relation between joint strengthening and the highest achievable speed of human walking

“…A parametric studies with the proposed mathematical model [49,50] can illustrate the effect of pattern of motion on time optimal walking. The objective of the current study was not to investigate the effect of these kinematic parameters on walking speed but to find the effect of joint strengthening in time optimal walking with the fixed and specified pattern of motion.…”