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To achieve more intelligent performance for walking-assistive devices, spontaneous motion intention of walking speed should be identified for providing a control command. In this letter, cerebral hemoglobin information was analyzed to recognize three levels of walking speed: low, medium, and high speed. Thirty subjects performed walking tasks in three levels of speed, with cerebral hemoglobin information...
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...
Body weight support (BWS) system is increasingly used in conjunction with treadmills to assist the patients with neurological impairments. Owing to lower limbs of the patients unable to bear the whole weight during the rehabilitation training, some weight can be removed to help the patients recover the basic walking ability gradually. Therefore, considering the man-machine relationship and the effects...
Intelligent prosthetics aim to provide a communication channel between disabled people and external world. Among them, walking-assistive device to help people with lower-limb disability attracts attention but still limited by unnatural gait or lack accurate real-time control. Here we studied the coupling between the upper limbs and the lower limbs since the whole body actually involved during walking...
To investigate the relationship between knee and ankle as a reference to the design of intelligent low limb prosthesis, this paper made experiments to describe the knee and ankle kinematics of normal gait on level ground, stairs and ramps of different slopes. 8 subjects participated in this study and gaits were measured on the level ground, stairs and ramps of different slopes using a motion capture...
Nowadays, a comfortable ankle prosthesis with natural walking gait for the amputee has become an important requisite. In this paper, a new kind of active ankle prosthesis is presented, which can not only help amputees walk naturally, but also reduce energy consumption by recycling. Firstly, the structure of ankle prosthesis was proposed. And then, dynamic simulation and structure parameters optimization...
A kind of intestine endoscopic robot of resonant ciliary structure is proposed in the paper. The robot is simple-structured, driven by piezoelectric bimorph, a structure of unilateral burr surface array is designed, resonant and the non symmetry friction between flexible leg and the contact surface is used to drive the structure move ahead. The motion principles of robot have been given theoretical...
This paper designed a wall-climbing robot for painting the hull surface. The robot walked with caterpillar, permanent adsorption and driven by AC servo motor, the paint system was controlled by solenoid valve and pressure pump. Control system uses the supervisory computer and lower computer of two-stage distributional control mode. And the robot itself is equipped with a visual system to observe the...
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