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This paper presents an integrated articulated steering vehicle's (ASV) dynamics model, which provides a simulation platform for research on path tracking control of ASV. The active speed limiting control is designed according to the sideslip constraints to improve the lateral stability of the vehicle during path tracking. The weighted PID controller is applied to control the steering torque based...
This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic...
This paper proposes a novel technique for the real-time estimation of the joint torques variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculated from the difference between the estimated values...
The paper presents the design and construction of an experimental stand for in vitro testing of total hip and knee prosthetics. It is composed of a pneumatic circuit (two pneumatic cylinders, a rack-piston oscillating motor), an electric circuit (an electric motor of 24 V DC, a power source, a command and control circuit), a device for cycles number counting, sensors for acceleration, rotational speed...
In this paper, a knee rehabilitation robot will be developed and controlled. The structure of the system containing the robot and some parts of patient body will be described and modeled using Newton-Euler approach. Two controllers containing Admittance and Sliding-Backstepping are composed to control the system. In this hybrid control scheme, the Sliding-Backstepping controller is considered to track...
The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both...
In this paper, a hand exoskeleton system for virtual reality is proposed. As a virtual reality interface for the hand, a wearable system should be able to measure finger joint angles and apply force feedback to the fingers with a simple and light design. In the proposed system, the finger joint angles are measured by a tendon-inspired cable mechanism. Also, another cable is used for force feedback...
We propose a human mimetic foot structure for musculoskeletal humanoids. We designed the foot structure by inspiring from human foot abilities of the multi-bone connected structure for flexibility and the distributed force sensor system. The foot has multi-DOFs structure including toe DOF that is composed of fingers. The distributed force sensing system is composed of 12 an-axis force sensors. In...
After-stroke rehabilitation of patients with shoulder disabilities traditionally requires repeated and progressive training exercises. Complete recovery is usually costly and lengthy. Aimed at reducing the cost and time of shoulder rehabilitation, powered exoskeletons are developed to provide automatic and steady rehabilitation training. Our previously developed shoulder exoskeleton is small-size,...
This work presents the initial characterization of planar silicon pin-joints for use in linkages for walking microrobot legs. A major goal in walking microrobotics is the creation of robust leg structures driven by low-power motors capable of lifting a 20mg mass and propelling it forward. Hinged joint structures, rather than stiff flexures, are ideal for this task. However, since joints are not fully...
This paper deals with the influence of electrically conductive adhesive amount on shear strength of joints glued by EPO-TEK® H20S and MG 8331S. These joints were made by gluing of chip resistors 1206, 0805 and 0603 with two curing profiles for each adhesive. The different thickness of stencils and reductions of the hole in stencils were used. These differences have an effect on the amount of conductive...
Exoskeletons are wearable robots i.e. robots coupled to the body of a user and commanded by him/her. The fields of application involve among others, the military as well as the medical industries. This paper presents the design of part of an exoskeleton aimed to enhance the performance of people that have had spinal injury or that suffer from some problem or pain in the lumbar area. An experimental...
This paper presents a new antagonistic tendon-driven joint (TDJ) which has an advantage of enhanced stiffness characteristics. Detailed mathematical analyses on the stiffness of typical TDJs are worked out to compare the stiffness among them. Prototypes of the proposed TDJ design are introduced in the form of packaged modular structure that merges two TDJs generating a combined roll-pitch motion or...
This paper presents a framework for whole-body motion control of a free-standing humanoid robot, for kinesthetic teaching through pHRI (Physical Human Robot Interaction). The proposed method is based on a task-oriented control through task prioritization which enables execution of multiple robot tasks in parallel, exploiting system redundancy. The tasks with lower priority are handled without affecting...
Balance and gait rehabilitation are the lesser progressed fields in robot aided rehabilitation, mostly due to the complexity of the involved tasks. One of the main problems is the impossibility for most patients to autonomously practice balance and gait rehabilitation safely, especially in the early fundamental stage of recovery. A solution to this limitation of the therapies is to realize a robotic...
Weight and power consumption of variable stiffness actuation mechanism are critical for its implementation in a portable assistive device combined with an actuator, gearhead, elastic element, and batteries. Therefore, we present a portable stiffness modulation mechanism for an Ankle Foot Orthosis (AFO) utilizing pneumatic stiffness. The mechanism consists of two units: a driving unit that controls...
This paper presents a recursive and parallel formulation for the dynamics simulation of large articulated robotic systems based on the Hamilton's canonical equations. Although Hamilton's canonical equations exhibit many advantageous features compared to their acceleration based counterparts, it appears that there is a lack of dedicated parallel algorithms for multi-rigid body dynamics simulation based...
We present a control strategy for the shoulder mechanism of an upper-body exoskeleton, called HARMONY, to assist in achieving coordinated motion at the shoulder complex. HARMONY is equipped with a novel mechanism that supports the natural mobility of the human shoulder, including the scapulohumeral rhythm, which is the coordinated motion between the upper arm (humerus) and shoulder blade (scapula)...
People with neuromuscular diseases request an arm support close to the body for assistance with their arm movements. This paper proposes a concept for a passive arm support based on bending beams to support the eating movement and that is close to the body. Simulations resulted in the final configuration and dimensions of the beams, optimized to balance an arm. One Carbon-fiber-reinforced polymer...
Stair ascent is still a difficult task for transfemoral prosthesis users. So far, a passive knee joint unit for transfemoral prosthesis developed in our previous study achieved stair ascending without handrails or any other assistance devices. However, the experimental results with the simulated socket showed that the users faced difficulty in using the knee joint at the beginning of the load response...
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