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To improve the mobility of locomotive devices on loose, sandy terrain, protrusions or convex patterns called lugs (i.e., grousers) are attached to the surface of a locomotive modulus. Following our previous study, in which the effects of angular speed, lug sinkage length, and soil cumulative deformation on lug-soil interaction forces during the fixed-axis rotational motion were experimentally confirmed,...
Silicone-based bending soft pneumatic actuators (SPAs) have been very popular, since they provide solutions to many applications that require comfort and safety. However, their further utilization seems to be thwarted due to their limited force output. Force output can be the most important property for various SPAs, especially in assistive devices. Focusing on the SPA force application, this letter...
Surface electromyography (sEMG) signals have been extensively studied in the area of intention detection, force estimation and control of rehabilitation devices. Studies regarding sEMG based jaw muscle force estimation are necessary towards building intuitive neural-controlled soft oral rehabilitation robot (SORR). This paper presents a force estimation algorithm based on masseter muscle sEMG signals...
To access loose sandy terrains, lugs (i.e., grousers) are attached on the surface of wheels/tracks to enhance the traveling performance of mobile robots. To clearly understand lug-soil interaction mechanism, an empirical model of normal force acting on lug during horizontal shearing motion has been established in our previous research. Moreover, it has been found that before this model can be extended...
To improve the mobility of wheeled robots on loose sandy terrain, lugs (i.e., grousers) are attached to the surface of each wheel. Unlike existing studies that focus on the effects of lug shape (e.g. height and width) on lug-soil interaction forces, this study involved experimental and quantitative analyses to investigate the effects of parameters such as inclination angle, sinkage length, and moving...
Wheeled mobile robots working on sandy soil (e.g. planetary surface, desert, etc.) are commonly equipped with lugs (i.e. grousers) on wheels to improve travelling performance. It has been verified that presence of these lugs significantly affects on the traction performance of the locomotion mechanisms on soft terrains. However, the influences of movable lugs on traction performance are unclear, since...
Lugs (i.e., grousers) are attached on the surface of wheels/tracks of mobile robots to enhance their traveling performance for accessing loose sandy terrains. The goal of this study is to experimentally confirm the effects of velocity, sinkage length, moving direction angle and inclination angle on the tangential force acting on an actively actuated lug. Moreover, based on comparison of the measured...
To enhance the mobility of amphibious robots for multi-terrains tasks, we have proposed an eccentric paddle locomotion mechanism (ePaddle) with several feasible terrestrial and aquatic gaits. In this paper, we present a rigid paddle model for predicting the thrust force in one of the aquatic gaits, namely the rotational paddling gait. Thrust forces calculated by this model demonstrate the idea that...
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