The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
With the development of science and technology, people have higher demand for comfortable seats. However, comfort is a complicated concept to apply in evaluating a sitting chair. There is no established assessment method which could evaluate the sitting chair comfort at present. Most of the current evaluation methods are based on single analysis, and lack multi-analysis of the problem. This paper...
Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable and even dangerous for the human. In this paper we present a kinematically compatible design of an exoskeleton hip to reduce kinematic incompatibilities,...
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...
There is a growing demand for functional rehabilitation orthotics that can effectively assist in patient recovery from motor impairments after stroke. The hand in particular is a complex system that has proven difficult to mimic with current exoskeleton technologies. This paper presents data-driven design parameters to increase the functionality and improve the assistance profile of the ArmAssist-2...
The mechanical design of robotic hands has been converging towards low-inertia, tendon-driven strategies. As tendon driven robotic fingers are serial chain systems, routing strategies with compliant tendons lead to multi-articular coupling between the degrees of freedom. We propose a generalized analysis of such serial chain linkages with coupled passive joint stiffnesses. We analyze the effect of...
In this paper, we present the preliminary evaluation of gait assistance during treadmill walking with a powered bionic knee exoskeleton (BioKEX) which is intended for gait rehabilitation of patients with knee joint movement disorder. The BioKEX is a unilateral and light-weight wearable exoskeleton. The anthropomorphic joint design is that the tibia rolls on the femur during knee flexion/extention...
At present, medical experts and researchers turn their attention towards using robotic devices to facilitate human limb rehabilitation. An exoskeleton is such a robotic device, which is used to perform rehabilitation, motion assistance and power augmentation tasks. For effective operation, it is supposed to follow the structure and the motion of the natural human limb. This paper propose a robotic...
A snake-like robot is a hyper-redundant robot. It has flexible movement ability and high stability with low center of gravity. It is very suitable for environment detection in the rugged road or narrow space. In this paper, a 16-DOFs snake robot is composed. It has ten 2-DOFs modular spherical-shape joints. The joints are arranged as the structure of "(Roll-Pitch)-(Roll-Pitch)-", where "(Roll-Pitch)"...
Imitating human joint structure in robotic joints can not only enable biped robots to realize more human-like locomotion, but also help humans to better understand the human body. This paper presents a bio-inspired knee joint for biped robots. The knee joint has the desirable characteristics similar to human knee joint including compliance, changeable instantaneous center of rotation, as well as the...
We present a new exoskeleton hip design representing the human hip ball joint by five revolute and two prismatic joints. The goal of the design is to increase wearing comfort and torque transmission by reducing misalignments between the human's and the exoskeleton's joint with a self-aligning yaw axis in the transverse plane. The required ranges of motions and joint velocities for the hip joint design...
The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness...
This paper presents the modelling, simulation and control of a lower limbs exoskeleton devices whose aim is to assist elderly people during standing-up and walking tasks. A humanoid and actuated exoskeleton frames were modelled in Solid Works and assembled in Visual Nastran 4D virtual environment. Control of exoskeletons actuators by means of PID and fuzzy controllers, together with a finite state...
Robot interaction with the environment is normally described as a mass-spring-damping impedance model and the estimation of such interaction impedance parameters requires the computation of the joint (or task) space velocity and acceleration. In many cases, the velocity and acceleration are computed by numerically computing the first and second derivatives of the sensed position signal. The numerical...
This paper presents two cases of exoskeletal platform, embedding a properly-designed element working both as power-transmission and torque-sensing unit. This element belongs to the Series-Elastic-Actuator (SEA) category, as it provides a mechanical stiffness in-series with the active motor, and provides measurement of the torque by means of its deflection. This allows presented exoskeletons to realize...
This paper presents LIGHTarm, a passive gravity compensated exoskeleton for upper-limb rehabilitation suitable for the use both in the clinical environment and at home. Despite the low-cost and not actuated design, LIGHTarm aims at providing remarkable back-drivability in wide portions of the upper-limb workspace. The weight-support and back-drivability features are experimentally investigated on...
This paper presents a novel control strategy of a portable knee-ankle-foot robot for overground gait training based on seven gait phases. Following assisted-as-needed (AAN) control strategies, the robot is able to provide assistance to the lower limbs in any gait phases, which deliver intensive training to certain lower-limb impairments. The gait phases can be detected in real time via inertia measurement...
The addition of active components to prostheses has the potential to extend the capabilities and reduce metabolic energy consumption of users when compared to current prosthetic technology. The CYBERLEGs Beta-Prosthesis is a new active transfemoral prosthesis that builds upon the passive principles of the CYBERLEGs Alpha-Prosthesis. The prosthesis has two active degrees of freedom, one in the ankle...
Powered exoskeletons have widespread future rehabilitation, medical and military applications. Current exoskeletons are challenging to use. They dynamically influence the human user such that he has to adapt his motions to the exoskeleton. This is due to the fact that the potential arising from an optimal integration of mechanics, electronics and control software has not been fully exploited during...
A lower extremity exoskeleton is designed and a novel control method based on RBF neural network identification is proposed to guarantee the exoskeleton identifies the pilot's motion intention independently. The propose method considers the pilot wearing assistance exoskeleton as an unknown system, and the RBF neural network is employed to identify the system's motion trajectories and the identification...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.