This paper reviews the state of art of e-health applications and technologies. These solutions usually are proprietary and lack interoperability between them. Our approach describes a system architecture that provides capabilities to integrate different telecare, telemedicine and domotic services in a smart home gateway hardware independent. We propose a rule system to define the user behaviour and monitor relevant events. Several use cases and data model for the system are presented.
This paper shows an overview of the walking model by grouping them into two large groups: the models with the concentrated mass and models with distributed mass. As an example of the models with concentrated mass, a mass-spring inverted pendulum model is shown, accompanied with a short analysis. As an example of a more complex model, a 13 DOF walking robot model is analyzed including the model kinematics, dynamics and controls accompanied with numerical solutions (simulations) for particular desired joint trajectories, recorded from a real human walking cycle. Kinematic and Dynamic analysis is discussed including results for joint torques and ground force necessary to implement the prescribed walking motion. This analysis is accompanied with a limited comparison with available experimental data. Finally, an inverse plant and tracking error linearization based controller design approach is described accompanied with results analysis and conclusions about the controller performances.
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