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This paper presents the design and control of a biomimetic knee joint for biped robots. The robotic knee joint driven by pneumatic artificial muscles is designed by imitating the structure of the human knee. It has desirable characteristics similar with human knee joint including joint compliance, changeable instantaneous center of rotation, as well as large range of joint motion. In order to model...
Imitating human joint structure in robotic joints can not only enable biped robots to realize more human-like locomotion, but also help humans to better understand the human body. This paper presents a bio-inspired knee joint for biped robots. The knee joint has the desirable characteristics similar to human knee joint including compliance, changeable instantaneous center of rotation, as well as the...
The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant...
Though balancing is a fundamental part of human walking, it has been a challenging topic for bipedal robot. Compared to the versatile strategies of handling disturbances of human, current bipedal robots possess limited skills of managing external disturbances. Among them the capabilities of push recovery and maintaining balance are obviously of prior importance for a bipedal robot to walk in an unknown...
Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance...
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