6 Abstract Title: Monitoring the effect of selected physical activities considering the risk of falling down in the elderly. Objectives: The aim of this work is to compare the effect of two physical activities used in the prevention of falling down in the elderly, on the traveled distance using the 6MWT (Six Minute Walk Test).The two chosen physical activities are "Nordic walking" and "Sensomotoric stimulation". Methods:Initially, a literature research was conducted in the key area of prevention of falling down in the elderly, the possibilities of physical treatment in this risky group of people, and then were the "Nordic walking" and "Sensomotoric stimulation" activities chosen, as methods used in the prevention of falling down. Two groups were created: "The Nordic Walking Activity Group" and the "Sensomotoric Stimulation Physical Activity Group". The length and intensity of workouts: weeklyfor3-month period, min. 60 minutes and max. 3 hours. Each group counts from 9 to 10 clients, with their age range being between 60 and 69 years. A standardized 6MWT (Six Minute Walk Test) is used to obtain the data to be processed. The results were statistically evaluated using Microsoft Office Excel XP Professional. Three times took place the measurement of each client, at the beginning of physical activity, in the 2nd...

Goal The goal of our pilot study was to evaluate the effect of short-term home based sensomotoric Training program (six weeks) in healthy adults on dynamic postural stability. We used the SOT at baseline and post the training program to evaluate the effect. Methodology The number of participants in this experiment was 10 healthy students, the number of males was 8 and 2 females, they were all between the age of 23 and 40 (mean 29.5 and ± S.D = 5.1 years). The sensory organization test was conducted at baseline and post the home based sensomotoric training program by using the dynamic posturography SMART Balance Master System (NeuroCom). The somatosensory (SOM), visual (VIS), vestibular (VEST), preference (PREF) and composite equilibrium outcome measures of the sensory organization test were evaluated. Results The VIS sensory system has significantly improved also the VEST sensory system with p-value < 0.05. The SOM sensory system had no significant improvement also the PREF sensory system with p-value > 0.05, while the overall composite equilibrium had a significant improvement with p-value > 0.05. Conclusion According to our findings the short-term home based sensomotoric training program has a positive effect in terms of improving the overall dynamic balance in healthy adults. Keywords Dynamic...

Die motorischen Fähigkeiten humanoider Roboter werden häufig von antriebsbedingten Nichtlinearitäten und Reibungseffekten negativ beeinflusst. Zur deren Kompensation werden üblicherweise modellbasierte Regelkreise genutzt, die i.d.R. von einer hochfrequenten Signalverarbeitung und mehreren Sensorqualitäten abhängen. Entgegen solch modellbasierten Techniken werden in der vorliegenden Arbeit modellfreie Steuerungsmethoden auf Basis parallel gekoppelter Antriebe entwickelt. Zur Entwicklung und Untersuchung dieser Steuerungsmethoden wird nach der von Pfeifer in seinem Werk “How the body shapes the way we think” beschriebenen synthetischen Methodik vorgegangen. Entgegen modellbasierten Untersuchungen auf Basis von Simulationen stehen bei der synthetischen Methodik empirische Untersuchungen am realen System im Vordergrund. Als Ausgangspunkt dienen konventionelle elektromechanische Antriebe mit deren bekannten leistungseinschränkenden Nichtlinearitäten und Reibungseffekten. Durch die parallele Kopplung mehrerer Antriebe an einem einzelnen Gelenk wird das Spektrum der Steuerungsmöglichkeiten deutlich erweitert. Es zeigt sich, dass (1) durch eine konstante antagonistische Vorspannung das Arbeitsverhalten von konventionellen Proportionalreglern optimiert werden kann, (2) durch dynamische asymmetrische Änderung der Vorspannung Nichtlinearitäten bei niedrigen Geschwindigkeiten ausgeglichen werden können und (3) getriebebedingte Reibungseffekte mit einer phasenverschobenen Pulsmodulation der Steuersignale kompensiert werden können. Weiterhin wird gezeigt, wie die erarbeiteten Steuerungsmethoden auf beliebig viele parallel gekoppelte Antriebe übertragen werden können. Für den praktischen Einsatz der Steuerungsmethoden werden diese in einer hybriden Steuerung zusammengeführt. Diese wird durch eine weitere Funktion, den Energiesparmodus beim Halten statischer Positionen, ergänzt und am humanoiden Roboter Myon implementiert und experimentell evaluiert. / Motor functions of humanoid robots are often negatively influenced by nonlinearities and friction effects of the actuators. The popular means of compensation are control circuits based on modelling, which rely on powerful HF Signal processing and various sensor qualities. In contrast, this thesis develops non-modelling control methods based on parallel coupled actuators. Development and exploration of these control methods follow Pfeifer’s synthetic methodology as described in his work “How the body shapes the way we think”. In contrast to the analysis based on emulation as used in modelling, the synthetic methodology focuses rather on empirical tests within the real system. The present work explores control methods for parallel coupled actuators for use in robot points. It starts from conventional electromechanical actuators with their known power limiting nonlinearities and frictional effects. Linking several parallel coupled actuators to a single joint significantly expands the spectrum of control capabilities. Using two parallel coupled actuators as an example, it is examined to which extent undesirable properties of single actuators can be compensated. The results show that (1) the Performance of conventional proportional controllers can be optimized by a constant antagonistic bias voltage, (2) nonlinearities at low velocities can be balanced out by a dynamic asymmetrical adjustment of the bias, and that (3) gear related frictional effects can be compensated by a phase shifted pulse modulation of the control signals. In addition, it is shown how the developed control methods can be applied to a random number of parallel coupled actuators. For practical use, the various control methods are combined in a hybrid control, which is supplemented by an energy saving mode when maintaining static positions. The hybrid control is being implemented into the humanoid robot Myon and evaluated by experiment.