Although it seems that two categories of robotic systems, the dynamic object manipulation and dynamic biped walking systems, are completely different in how they are dealt with at the first glance, we believe that there exists a strong relationship between these two types of robotic systems. This paper studies the correlation of the dynamic biped walking and dynamic object manipulation in all areas (passive, underactuated and fully-actuated classes). In this regard, the virtual problem of "the amputee walking robot" is defined to describe the relationship between these two kinds of robotic systems. From this viewpoint, the problem of dynamic biped walking is a special case of dynamic manipulation of multibody objects in which the multibody object has a structure similar to the structure of biped robots. In other words, we can say that the ground manipulates the biped robot which is considered as a multibody object. Then, the concept of correlation is investigated in three different classes of the problem: passive, underactuated, and fully-actuated systems. For each of three categories, appropriate examples are studied. It will be shown that the details of the walking problem could be extracted from the mother problem of dynamic manipulation of multibody objects in all its aspects.

Aims: The aim of this study is to examine the effect of walking speed and cognitive load on learning gait stability in younger and older adults. Materials and Methods: Ten adults (five males and five females) and ten elderly (five males and five females) were healthy volunteers without a history of falls. He was asked to do three tasks on a treadmill with speed (preferred, fast, and slow) with/without cognitive load. The gait‑ stability ratio (GSR) for each of the above conditions was calculated in terms of both younger and older adults. Two‑ way repeated measures ANOVA was used to examine the mean differences at a significance level of 0. 05. Results: The results showed that the cognitive performance score decreases with increasing speed. Moreover, at faster and slower speeds than prefer speed with/without cognitive load, GSR is higher, and this value was observed more in elderly than in adults (P < 0. 05). Conclusion: The elderly, through different walking strategies, especially the lowering phase, provide more double support while walking, so that they will fall less with increasing steadiness.

Background: Heart is one of the essential body organs whose deviation from its normal function leads to abnormal heart rate, including bradycardia and tachycardia and may cause cardiac Arrhythmia. Objectives: The purpose of the present study is to examine the effects of 8 weeks Pilates, walking, and combined Pilates and walking exercise on heart Arrhythmia. Methods: In this quasi-experimental study, 30 female patients with tachycardia aging 24 to 59 years old in Zahedan were selected and categorized into three distinct Pilates, walking, and combined Pilates and walking groups (10 people per group). The training program was eight weeks, three sessions per week, with a 60% to 70% maximal heart rate. Resting heart rate (RHR) was measured with electrocardiography (ECG). Resting systolic and diastolic blood pressure was measured using a digital gauge in three different steps, the first step of the measurement was performed 24 hours before doing exercise, the second one at the end of the fourth week, and the last one at the end of the eighth week. Data were analyzed using one-way analysis of variance (ANOVA), repeated measure ANOVA, Bonferroni post hoc test by the statistical package in social science (SPSS) software version 20. Results: The results demonstrated that RHR decreased at the end of the eighth week of Pilates (P < 0. 01), walking (P < 0. 05), and combined Pilates and walking (P < 0. 001). Resting systolic blood pressure decreased at the end of the eighth week of the Pilates, walking, and combined walking and Pilates. Resting diastolic blood pressure also reduced after walking, and combined Pilates and walking exercise. Conclusions: The results showed that RHR, systolic, and diastolic blood pressure significantly decreased after eight weeks of training in Pilates, walking, and combined training groups. Therefore, it seems that all three physical activity models can substantially decrease the resting blood pressure and are not superior to each other. Pilates training is likely to be more effective in reducing the heart rate of patients with cardiac tachycardia compared to the walking and combined training groups.

Background: This study aimed to investigate kinematic parameters of lower limb joints during gait on inclined surfaces compared to level ground. Methods: In this cross-sectional study, 15 healthy individuals walked at their self-selected speed on level ground with a zero slope and on two inclined surfaces. These surfaces were constructed to mimic real environments with slopes of +8 (uphill) and -8 (downhill) along an eight-meter distance. The measured variables included the angles of the ankle, knee, and hip joints sagittal plane during different phases of gait, captured through a three-dimensional motion capture system. Results: Significant differences were observed in uphill walking compared to level-ground walking, including an increase in ankle, hip, and knee angles at initial contact, maximum ankle dorsiflexion and plantarflexion, maximum knee flexion in the stance phase, and maximum knee extension in the swing phase. There was also a reduction in the maximum extension of the hip joint (P<0.05). In downhill walking compared to level ground, significant differences were observed in the increase of ankle and knee angles at initial contact, maximum ankle dorsiflexion, maximum knee flexion in both stance and swing phases, and a decrease in the maximum angle of hip extension. However, no significant difference was observed in the hip joint angle at initial contact maximum ankle plantarflexion, maximum knee extension in swing phase between level and downhill surfaces and at maximum knee flexion in swing phase between uphill and level surfaces (P>0.05). Conclusion: Walking on inclined surfaces influences the flexion and extension angles of lower limb joints during different phases of gait, necessitating increased joint movement. These alterations are more pronounced during uphill walking than downhill, especially at the initial contact point.