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Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate (PZT), has large stress and bandwidth, but its extremely small strain, i.e., only 0.1%, has been a major bottleneck for broad applications. This paper presents a new strain amplification...
A flexible electro-conductive rubber sensor for measuring the length of a McKibben pneumatic actuator has been developed. Mckibben actuators are flexible, lightweight, and widely used to actuate power assisting devices for which compliance is required for safety. The actuator's length needs to be measured to control the devices accurately. However, the flexibility and lightweight properties might...
If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero vibration. If the system possesses redundant on/off actuation, the number of possible zero vibration commands increases. Of particular interest is the command that has the minimum number...
A functionality test at the level of individual muscles may be effective for neuromuscular function tests. This paper proposes a novel computational method for neuromuscular function test planning using an individual muscle force control technique assisted by a rehabilitation robot. The algorithm will systematically compute an adequate amount and direction of force that a subject needs to exert, e...
The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling ldquopinpointedrdquo...
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