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This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
This paper presents MoonWalker, a lower limb exoskeleton able to sustain part of a user's bodyweight. This orthosis can be used for rehabilitation, to help people having weak legs, or to help those suffering from a broken leg, to walk. It can also be used as an assistive device helping people carrying heavy loads. Its main characteristic is that a passive force balancer provides the force to sustain...
This paper presents a method for controlling the zero moment point (ZMP) of walking robots by using spring-mass systems mounted on the robot body. A pair of oscillating spring-mass systems makes a swing motion of the ZMP via periodic change of the spring forces. In contrast to usual methods, where ZMP is controlled through motion planning in terms of joint trajectories, the proposed method is not...
Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper...
For decades, insects have been a valuable source of inspiration for mechanical and control designs of legged robots. Anatomical and behavioral studies of insects such as cockroaches, stick insects and locusts have inspired the development of many robots. However, their control systems had to be engineered based upon behavioral studies and control hypotheses rather than neurobiology. Recent insect...
This paper presents an approach to control gaits of humanoid bipedal robots in operational space without reference trajectories. This control strategy is based on the planning of the sequential events during the walking process. The aim of this study is to propose a new control strategy which is more reactive, permits a precise coordination of both legs during the double stance phase and the generation...
A legged locomotor device for paraplegics have been attempted to improve their ADL and to prevent some complications. A stride control of the system based on the user's intension is important to coordinate the voluntary movements of the user and the assisted movements of the paralyzed legs. In this paper, we propose a human interface with a walker to control the stride length of a legged locomotor...
This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using...
Gait analysis is important element in therapy and rehabilitation of hemiplegic individuals. We developed a simple, portable sensor system, which can be used for recording of gait signals, as well as for estimation of important gait parameters like joint angles, ground reaction forces, and various temporal parameters. In order to assess robustness of the system in everyday use in different environmental...
We present a simple neuromorphic central pattern generators (CPG) circuit module, which is essentially a pair of coupled oscillators, to actuate a joint on a leg. This novel, reconfigurable CPG module is able to generate different motor patterns of different frequencies or duty cycles, simply by changing a few of circuit parameters. Three CPG modules, corresponding to three joints, can make an arthropod...
This paper presents the design and testing of Abigaille-I, a spider-inspired robot. The system is miniaturized and has six legs and 18 actively controlled joints. Macro-, micro- and nano-structural design of the robot legs and feet are presented and preliminary experimental results are discussed. The long-term objective of this research is to develop an autonomous and miniaturized robotic system capable...
The general focus of the project is the development of a simple, portable and economically accessible device that permits the limited movement of the inferior extremities on patients with damage on the spinal cord in the lumbar region. The present work is limited to the control system. An electronic dataglove is used as input interface. To develop the controller it was developed as output interface...
Intelligent bionic leg (IBL) can restitute walking function for above-knee amputees. To realize symmetrical stable walking, IBL must be able to perceive the movement intention of amputee so as to actuate its knee joint accordingly when walking on various terrains with different cadences and stride length. Gait pattern estimation schemes using thigh kinematic data based on two classical pattern recognition...
The recent trend of humanoid robotics research has been deeply influenced by concepts such as distributed architectures, local control, force interaction and emergence of coordinated motions. A hypothesis is that feedback control from several sensors, such as force sensors and inertial devices, and more advanced control algorithms will be a key issue for the next developments. In this paper, we discuss...
Humanoid soccer serves as benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, e.g., in the RoboCup Humanoid league. As the robots manage the basic skills of walking, kicking, and getting up better, teams can focus on soccer skills and team coordination. The complexity of soccer behaviors and team play calls for structured behavior engineering.
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