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Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy. In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes....
A kind of auxiliary device for ankle rehabilitation based on ball pin vice is designed and developed. The device has two degrees of freedom, but it can achieve approximatively the three-dimensional movement of the bionic ankle. When the device is used for auxiliary ankle rehabilitation, which only leads ankle to rotate not to move, and its structure is very simple. The ball pin pairs are adopted as...
Dictionary learning algorithms based upon matrices/vectors have been used for signal classification by incorporating different constraints such as sparsity, discrimination promoting terms or by learning a classifier along with the dictionary. However, because of the limitations of matrix based dictionary learning algorithms in capturing the underlying subspaces of the data presented in the literature,...
The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator...
Zero-Moment Point (ZMP) is the most popular concept that is applied to stabilize the gait motion of a biped robot. However, the computation of the ZMP position and the dynamic model is highly complex, and so requires a considerable time. Therefore, to eliminate complex computation, this work designs a new locomotion control system for humanoid robots, which yields walking gait characteristics that...
The redundant driving problem is an inherent phenomenon existing in a modular caterpillar robot. To limit the internal forces arising from the redundant driving, this paper proposes a joint torque control method, which is based on an assumption that there is only one active joint in the four-link mechanism driving the climbing gait. Except the active joint, the other three joints are all considered...
In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four...
Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to...
The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the...
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