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Biomechanical experiment method has been widely used in research for the mechanical properties of pelvic acetabulum. Loading jig is a very important part in the studies. Yet, few articles did intensive studies about the jig. In this paper, a kind of new loading jig, which is more analogical with physiological orthostatism of the pelvic, is being introduced and some biomechanical experiments have been...
Based on agility, stationarity, low-noise, and special methods of pose control about sea turtle swimming, the bionic turtle forelimb's hydrofoil propulsion principle was researched. Taking a ripe green-turtle as the biological prototype, utilizing the real-time monitor experiment platform of turtle movement, its skeleton configuration characters were analyzed, the hydrofoil motion parameters were...
The authors introduce a fuzzy rule-based algorithm to evaluate the activation patterns of muscles of the lower limb with respect to the gait phases during normal human walking. A relational matrix was established as a Cartesian product between the activation behaviors of muscles of the lower limb within the seven gait phases during normal walking. This relational matrix is an expression of the strength...
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint...
Cardiac physical phase (CPP) is another method for phase partition of cardiac motion besides the conventional cardiac time phase (CTP). The partition basis of CPP is not time but the deform information of left ventricle (LV) in different stages. The length of each CPP can reflect the function of LV, and CPP is also the calculation base of many other function parameters. So far the partition of CPP...
There are patients that cannot produce bioelectric signals such as patients with advanced stages of Amyotrophic Lateral Sclerosis or that have suffered severe spinal cord injury, are unable to use assistive devices such as the exoskeleton HAL. This paper proposes a non-invasive brain activity scanning method for collecting the patient's movement intentions by developing a hybrid sensor that can measure...
We have developed a new model to simulate contact and rolling motion between two soft fingers and an object by using Finite Element and Constraint Stabilization Methods. This model is more efficient than the penalty method in connecting boundaries of objects through discrete models such as finite element models and particle models. We show the validity of this method through the simulation of grasping...
In this initial work, we discuss the application of Lighthill's small-amplitude elongated body theory (EBT) in improving the swimming efficiency. The prototype considered in the study is a slender fish model capable of performing various motion patterns. The mechanical design of the prototype, derivation of equations and the results are first discussed. We apply a body motion function with linear...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
A humanoid robot should be able to keep balance under unexpected disturbance, and can take three strategies, i.e. ankle strategy, hip strategy and step strategy, to recover balance from biomechanics research. In this paper, the relationship between limited joint torque and balance recovery strategy is analyzed using Zero moment Point Manipulability Ellipsoid. Furthermore, during balance control, the...
Most legged robots to date use individual motors at the joints for actuation. However, the muscle structure of vertebrate legs incorporates both a flexor-extensor architecture and biarticular muscles - muscles that span two joints. Flexor-extensor architecture enables the joint to swing freely when muscles are relaxed, while biarticular muscles have been shown to play an important role in transferring...
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