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In this paper, we propose and analyze a Regenerative Magnetorheological Actuator (RMRA) for gait assistance in knee joint. The actuator has motor and magnetorheological (MR) brake parts working in parallel, and can harvest energy through regenerative braking. This novel design provides multiple functions with good energy efficiency. The design of the RMRA is first introduced, and its multiple functions...
Two-Step Test is now widely used to evaluate the locomotion ability of human in Japanese biomechanical clinical hospitals. It is a test in which Two-Step Value is calculated by dividing a subject's height by the maximum distance of his/her two steps of walking. The test was developed by Hirano and Muranaga in 2003 to conveniently predict human's walking ability and is shown to have high relations...
A physical assistant robot is useful for elderly and disabled people, as well as workers in certain industries, as it enhances their locomotive capabilities. However, risk assessment has identified some unique risks such as wounding of the skin and fall because of the use of such physical assistant robots. Among these potential risks, falls can be particularly severe. This study focuses on the effect...
In this paper, a Genetic Algorithm is used to solve for the optimization problem of a quadruped rover, which is developed based on a two-dimensional model of a domestic cat. The rover's gait, pose and control parameters are optimized for two separate objectives. First, the energy consumption through applied joint torque is minimized for fixed thrust speeds. Secondly, the rover's thrust speed is maximized...
Vertical ground reaction force(vGRF) has been widely known as a qualitative features of human walking. While a human walks, the vGRF exhibits a double peak profile in which two maximal values appear from the heel contact to the toe off. So far, various studies have been mainly conducted in the field of biomechanics to elucidate the mechanism by which the double peak profile of the vGRF can be generated...
The aerial posture adjustment of jumping robots are very important for them to land safely. The body of our previous jumping robot rotates in the air which may lead to damage of its fragile parts during landing. In this paper, the aerial posture adjustment of the robot is investigated by modeling and simulation. Firstly, inspired by aerial posture adjustment of animals and insects, the robot model...
Legged robots have been expected to work at areas where conventional robots with wheels cannot move. However, control of legged locomotion is much more difficult than wheel locomotion because a legged robot is exposed to risks to stumble. In conventional studies, the Zero Moment Point (ZMP) has been considered as an important index for controlling legged locomotion. On the other hand, many studies...
Attracted by the fact that there are lots of demands for robots working in the amphibious environment, this paper proposes a novel, simple and efficient leg for amphibious robots. That leg is made of the elastic material. The leg could deform a curve-like one passively, forced by the resistance when moving on the ground. Moreover, the leg would recover straight, fin-like, promoting the robots swimming...
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