The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Based on human arm and serial robot theory, a model is established to get the acceleration and velocity performance index of the humanoid-arm mechanism. Using these indices, the dynamic performance of the mechanism is analyzed and the atlas of the indices contoured by Matlab is given. Through analyzing the results of simulating atlas, the optimum size of the humanoid-arm is derived. Using a group...
In this paper, we intend to introduce a concept of power assist system-walking power assist leg (WPAL), which is designed for human power augmentation. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated....
The power assist walking legs (PAWL) is an autonomous exoskeleton robot which is designed for assisting activities of daily life. In order to improve the dynamic response of the exoskeleton robot, a novel sensing information forecasting algorithm is proposed based on the time series analysis. The algorithm is built up with the autoregressive (AR) model, the recursive least square (RLS) method and...
This paper develops a 3-DOF active rotational ball joint with a simple and compact mechanism, which can realize a rotation around an any- direction rotational axis with a well manipulability and can change its direction of rotational axis smoothly and arbitrarily when it is on rotating. The mechanism principle of this joint is proposed and analyzed. Then the ball joint is developed and experimental...
The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method...
In this paper, a wearable robot gives assistance or support to human locomotion is proposed, it will be of great value for certain activities or for special groups. As the wearable exoskeleton moves according to human intention, how to acquire human locomotion information accurately and quickly become so significantly. Firstly, we make a dynamic analysis of walking human body and build a correlative...
A power assist walking leg is designed for enhancing strength and endurance during walking, it can be also applied to one whose legs are injured or who has difficulty in walking because of aging, paralysis and amputation. In this paper, we intend to introduce a concept of power assist walking support system and its fundamental control strategy using the information of human-robot interaction force...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.