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This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion...
This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching...
While a robot is moving, the joints inevitably generate noise due to its motors, i.e. ego-motion noise. This problem is very crucial, especially in humanoid robots, because it tends to have a lot of joints and the motors are located closer to the microphones than the sound sources. In this work, we investigate methods for the prediction and suppression of the ego-motion noise. In the first part, we...
This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey...
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ??PDAC constant?? was proposed, so that...
This paper proposes a polyarticular tendon drive system to simulate a variable stiffness of a human fingertip. The stiffness determines displacement of the fingertip when an external force is affected to it. The stiffness should be adjusted not only according to measurement precision of object's dimensions in order to allow grasping position errors, but also according to tolerance of the assembly...
This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using...
This paper introduces a new wearable handling support system for a person who has trouble in motor capability of his or her upper limb. The support system is used as not only a support system to make his upper limb active in daily life but also a rehabilitation system to reduce manual loads of physical therapists. The system measures three rotation angles of patientpsilas head: pitch, roll and yaw...
An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint...
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