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Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
Magnetorheological (MR) fluid is a smart fluid, which theological behavior can be controlled by magnetic field. Rotary devices using MR fluids have the benefits of high torque, good controllability, and low power requirement. Recently, we developed a new MR actuator and applied it to assistive knee braces. It was demonstrated that the knee brace with this MR actuator can provide proper torque under...
This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two hydraulically-actuated degrees of freedom (DOF), the hip and knee joints. The actuation system is composed of proportional valves and asymmetric...
Strengthening muscle force by training, e.g., an isokinetic exercise is used widely used method in the rehabilitation medicine and sports medicine. However, many conventional isokinetic exercise machines cannot be used safely and easily. In this study, we developed an isokinetic and iso-contractile exercise machine, named ldquoMEM-MRBrdquo, using an ldquoMR brakerdquo. This brake includes MR fluid...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids...
Magnetorheological (MR) fluid is a smart fluid that its rheological behavior can be controlled by magnetic field. Rotary devices using MR fluids have the benefits of high torque, good controllability, and low power requirement. Recently, we developed a new MR actuator to be applied to an assistive knee brace. It was demonstrated that the MR actuator can provide sufficient torque for normal human activities...
This paper describes about research on fluid analysis simulator for elastic oscillating fin of biomimetic underwater robots. Authors has been researching biomimetic underwater vehicle such as flapping wing type. In such system, new concept of fluid analysis simulator is required because of the unique fluid characteristics of elastic oscillating fin. First of all, this paper shows basic characteristics...
This paper reports on the current status of the effort conducted at ULB in order to develop a portable muscular rehabilitation device for telemedicine applications. It is divided into four parts. The first part recalls the basic modes of muscular rehabilitation and gives a brief overview of commercial rehabilitation machines as well as portable devices under development. The second part describes...
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