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In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
Series Elastic Actuator(SEA) has been emerging as a novel and potential actuator system for many robotic applications. It is well known that SEA can achieve high compliance which realizes safe interaction between humans and robots. On the other hand, precision position control has been considered difficult in SEA applications. A novel control configuration for SEA position control is proposed in this...
In this paper, we present our research efforts which investigates efficiency of mechanical energy transfer from flywheel to the overall mobile hovering robot body not only with simulations but also with real world experiments. To generate varying amounts of inertia with respect to rotation requirements, a counter rotating flywheel system is developed and multiple angular motion profiles are applied...
We proposed a hybrid powered ankle exoskeleton. It can be able to supply positive mechanical power to the user during the swing phase of gait. The hybrid powered ankle exoskeleton was composed of a pair of compressed springs and a cable-driven actuator fasted to the shin. It was lightweight, and permitted the cable-driven actuator to provide the forces at the biological level to the ankle joint. Meanwhile...
This paper mainly studies the angle tracking problem in electronic throttle system with unknown time-varying disturbances. Firstly, generalized proportional integral observer (GPIO) is used to estimate the time-varying disturbances including model uncertainties, friction torque and spring initial torque. Secondly, a composite controller combining disturbance estimation and backstepping control method...
This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed...
In this paper, we improve a running speed of a biped robot by using a control law of a new wobbling mass. In the model of the biped robot, the running speed decreases when using a conventional control law of the wobbling mass. We first describe the conventional running control law of the biped robot and propose a control law that moves the wobbling mass up and down so that the forward direction component...
The active mode rehabilitation robot is recently developed to help paralysis patients in improving their capability. The robot is usually completed with load and weighting mechanism. This paper presents an alternative weighting mechanism of active mode rehabilitation robot by using spiral spring as load source. PI controller is used to ensure the link reaching its last position by controlling the...
Making conclusive performance comparisons of bipedal locomotion behaviors can be difficult when working with different robots. This is particularly true in the case of comparing energy economy, which is highly dependent on mechanical, electrical and control components. As a means of limiting these disparities in methodical testing, we built a modular bipedal robot platform, AMBER-3M. Three leg configurations...
This paper presents the modeling and control of a planar snake robot composed of modular, single degree of freedom bending units. The goal of this research is to design a snake robot that minimizes the number of degrees of freedom necessary for planar serpentine locomotion, while closely approximating the idealized sinusoidal shape of a moving snake. The use of an underactuated, multi-link module...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
In this paper, we design a novel knee exoskeleton. The designed exoskeleton has a 1 DOF with knee joint actuated in the sagittal plane. The exoskeleton is actuated base on Series Elastic Actuator (SEA) instead of traditonal stiff actuator. SEA is a compliant actuator, having the advantages of low output impedance, low friction, high quality force control and backdrivability. Thanks to these nice characteristics,...
The repeated locking-releasing device is used to extend the application range of payload in space. A repeated locking-releasing device with a slider crank mechanism and an electromagnetic device is presented. The key components, including the support and slider crank mechanism, are optimized. The simulation analysis is carried out to get the kinematics characteristics of this device. The sample is...
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
In this study, we propose a new ankle orthosis with elastomer-embedded flexible joints (EEFJ), composed of C-shaped springs and 3D-printed circular elastomer. This orthosis was designed to reduce burden on the tibialis anterior muscle (TA) and to achieve clearance between the tip of the toe and the ground. Fabrication method, strength testing, and gait analysis were conducted. According to the results...
We report on the development of a novel switchable clutched parallel elastic actuator (SCPEA), which is composed of active components, such as a brake and clutch, as well as passive components, such as a ratchet and one-way bearing. The proposed SCPEA can actively control the storing, preserving, and releasing of the spring potential energy to and from the input motor even when the motor is in operation,...
Over the last decade, active lower-limb prostheses demonstrated their ability to restore a normal gait for transfemoral amputees by supplying the required positive energy balance [1]. However, the added-value of such devices is significantly impacted by their limited energetic autonomy preventing their full appropriation by the patients. There is thus a strong incentive to reduce the overall power...
An estimated 17 million individuals suffer a stroke each year with over 5 million resulting in permanent disability. For many of these, the provision of gravity support to the impaired upper limb can provide significant and immediate improvement in arm mobility. This added mobility has the potential to improve arm function and user independence overall, but, so far, wearable arm supports have found...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
Camera technology is continuously improving and high quality cameras are now available under one pound of weight. This enables novel and innovative uses, for example at the end of a long boom pole. Unfortunately lighter cameras used in such ways are more susceptible to vertical disturbances and the bouncing associated with walking resulting in shaking and distortion. We introduce a miniaturized active...
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