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This paper describes the details of a theme-based and hands-on STEM learning program utilizing an underwater robot called GUPPIE. Glider for Underwater Problem-solving and Promotion of Interest in Engineering (GUPPIE) is an example of a robot with oceanographic and environmental monitoring application. GUPPIE helps students to learn about fundamentals of physics (buoyancy, gravity, drag and lift force),...
The use of human-interactive robots in industry and daily life has become more prevalent throughout society as more people are using collaborative, and assistive robots to accomplish a task. To demonstrate the utility and importance of assistive robots to middle school students, a unique educational platform called Neu-pulator (neurally-controlled manipulator) was designed and fabricated to introduce...
This paper describes the methods and experiment protocols for estimation of the human ankle impedance during turning and straight line walking. The ankle impedance of two human subjects during the stance phase of walking in both dorsiflexion plantarflexion (DP) and inversion eversion (IE) were estimated. The impedance was estimated about 8 axes of rotations of the human ankle combining different amounts...
This paper, for the first time, describes the estimation of the time-varying impedance of the human ankle in the sagittal (SP) and frontal (FP) planes during the stance phase of walking. The result of this work is aimed to provide design parameters for the development of 2-DOF powered ankle-foot prostheses capable of mimicking the time-varying impedance of the human ankle. Sixteen axes of rotations...
This paper describes the fabrication and initial evaluation of a vibrating platform with two degrees of freedom (DOF) to estimate the human ankle's mechanical impedance in two DOFs; namely dorsiflexion–plantarflexion (DP) and inversion–eversion (IE). The device consists of an actuation and a force plate module. The actuation module generates torque perturbations up to 168 N·m in DP and 26 N·m in IE...
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