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.
When a manipulator installing a position controller turns a screw crank, excessive inputs often happen due to installation errors. We solve the issue by using environment adaptation effect of robot's redundant degrees of freedom. The experimental results demonstrated that the manipulator specifying the only two control variables has successfully completed the task in the maximum error norms of 0.18[mm]...
The disadvantage that the iterative learning control (ILC) requires a learning process again for achieving another motion has been overcome by the basis-motion torque composition (BMTC). However, the increase of robot joints may cause difficulties in motion selections due to the algorithmic issue. We investigated the issue in motions of a three-joint robot arm in gravity and proposed a resolution...
The goal of this study was to develop a transfemoral prosthesis that realizes a natural and smooth gait. To realize such prostheses, the smoothness or goodness of walking in the swing phase should be investigated. So far, many studies have investigated the human gait. However, the goodness of walking has not been clearly defined. Passive walking has drawn much attention because it includes the essence...
A method to quantify the walking skill with trans-femoral prosthesis will be explored for better gait rehabilitation and design of prosthesis leg. Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait is strongly related to effective use of the prosthesis inertia. So far we have proposed the inertia-induced measure as...
The basis-motion torque composition (BMC), which generates feedforward torque for precise joint-trajectory tracking of a multi-joint robot arm, has been recently suggested. It is based on four arithmetical operations of time-series torque data of several motions preliminarily obtained by the iterative learning control. The remarkable advantage of BMC is to generate desired feedforward torque without...
A method to quantify the matching of inertia property of a trans-femoral prosthesis to a given user's skill will be explored for better design of the prosthesis. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important...
This paper presents a method to quantify the goodness of gait with a trans-femoral prosthesis in order to evaluate walking skill with the prosthesis and its application to its design. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though...
Object manipulation involves two tasks: 1) reaching to grasp and 2) grasping. Motivated by physiological studies related to first task, reaching to grasp, and a simple control method composed of joint-damping and a single virtual spring, we try out for realization of continuous reaching-to-preshaping movements by robotic hand-arm systems with a pair of 2DOFs fingers and a 3DOFs arm. Differently from...
A simple control method for redundant multi-joint arm was proposed recently by gaining a physical insight into human multi-joint reaching movements in redundancy of DOFs. Differently from the traditional approaches, the method need neither introduce any artificial performance index to resolve kinematics ill-posedness nor calculate the pseudo-inverse of the Jacobian matrix of task coordinates with...
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.