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The design and development of an offline self organizing fuzzy controller for a pneumatic artificial muscle (PAM) is discussed in this paper. This inherently compliant soft actuator is intended as the driving component in a mobile, lower limb, assistive/rehabilitative orthotic device. Accurate control using classical control approach is difficult due to the compressibility of gas and the nonlinear...
this paper reports an automated tracking and force measurement system for C. elegans in motion, based on microscopy computer vision. A polydimethylsiloxane (PDMS) device was microfabricated to allow C. elegans to move in a matrix of micropillars in a channel. An image processing algorithm has been developed to track the worm and deflecting micropillars automatically in purpose of quantifying multipoint...
This paper provides an overview of the state-of-art technology behind existing active assistive / rehabilitative devices, and describes the design and features involved. A novel concept for an active assistive and resistive orthotic device utilizing pneumatic artificial muscles (PAM) is then proposed. The concept design strives to incorporate the advantages inherent in existing devices, enhanced functionalities...
C. elegans is a worm that could be mutated to have different muscle arms, which may generate distinct force patterns when the worm moves. In this paper, an integrated system employing both a novel PDMS device and a visual feedback from the device is reported. The silicone elastomer-based PDMS device consists of arrays of pillars, which forms open channels for the worm to move in and bend the pillars...
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