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This letter proposes a multifunctional ankle exoskeleton to safely expand the mobility. By applying torque to the ankle in dorsiflexion and plantarflexion, the exoskeleton prevents foot drop and foot slip and helps the ankle to push off the ground. The exoskeleton includes a remote center-of-motion (RCM) mechanism, a linear actuation module, and fastening modules. The RCM mechanism, which has two...
Vacuum Circuit Breaker (VCB) consists of the main frame with the operating mechanism and the main circuits including VI (Vacuum Interrupter). Especially, a VCB for the generator protection, which is used in a power plant, requires very large contact spring force because it has to be able to withstand the high short circuit current. In order to release closing energy of VCB, the cam type mechanism...
This paper examines and summarizes the research trends in the field of rehabilitation robotics for treadmills that automatically adapt to the walker's desired speed. Treadmill training is a method of ambulatory rehabilitation for patients who have lost their ambulatory function before or after a joint replacement surgery, or from arthritis, a stroke, or a spinal cord injury. The existing treadmill...
Exoskeleton robots have been widely studied for many purposes. The disturbance observer(DOB) may also have a potential to be applied to control the exoskeleton robot if it overcomes its unstableness or divergence in the operation. In the paper, the DEFIC, which is a kind of the DOB, is revisited to apply to the exoskeleton robot control. The DEFIC is improved to guarantee stable motion during operation...
This paper presents the design and control of multi-degree-of-freedom (DOF) hydraulic manipulator for the steel-manufacturing work flow automation in continuous casting. This manipulator is aimed at handle a heavy-weight shroud nozzle autonomously in hazardous circumstances around the ladle. The half-sized miniature shroud-nozzle manipulator platform was manufactured, where it is operated by hydraulic-powered...
One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman...
The kinematics of a flapping plate is determined by solving a path optimization problem for the hovering flight. The flapping motion of the flat plate is described by a combined sinusoidal plunging and pitching motion in the horizontal plane. The optimization process is carried out based on a well defined surrogate model which is made from the results of 2-dimensional computational fluid dynamics...
Piezoresistive cantilevers are commonly used for force sensing. However, the design of piezoresistive cantilevers is complicated by coupling between many design parameters as well as design and operation constraints. Here, we discuss analytical models and optimization techniques for piezoresistive cantilevers.
In the paper, the new force control, which is called the D'Alambertian force Error based Force Integral Control (DEFIC), is proposed based on the force integral control by considering the ability of the system input. From the system input point of view, the external force and system acceleration cannot be distinguished from each other. Thus, the best solution is to handle those quantities together...
Mobile Sensor Networks (MSN) are used for network load balancing, prolonging network lifetime, and improving network coverage by monitoring critical areas where manual sensor deployment cannot be performed. Addressing the problem of how to achieve maximum network coverage and network uniformity, after deploying sensors in critical areas randomly, is of significant importance recently. In this paper,...
Research in person identification and authentication has attracted significant attention from the researchers and scientists. This paper presents a biometric user authentication based on a person's foot step. The advantage of this recognition method over other types of biometrics is that it enables unobtrusive user authentication where other types of biometrics are not available. Firstly the ground...
Drop tests were performed for plastics specimen which are used in the automotive interior trims, and the impact force were measured and the cross sections of the tested specimen were observed. Finite element analysis for the drop test were performed using both the stress-strain relation at high strain rates and that at low strain rate, and the results were compared with the test results. It is known...
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