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We have presented a free model control strategy to control a semi-passive biped robot at three the joints in this paper. First we describe complicated problem of the under actuated robot. Then using free model, we proposed walking control algorithm to ensure an asymptotically stable gait for the under-actuated robot according to open-loop oscillating control method. The walking control algorithm means...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
In this study, basic research to obtain biomechanical parameters for optimized design of wearable walking assistant robot was presented and discussed in the condition of its application to the dynamic analysis of gait. Numerous studies are being conducted in order to develop intelligent walking assist devices. However, the reliability, effectiveness and durability of such intelligent walking assist...
Smart Knee Brace (SKB) is designed to provide controlled perturbations to the human knee during walking. A dynamic model of human walking is then used to evaluate the human applied joint torques to hypothesize how the human neuro-muscular system modulates the joint torques as a response to the perturbations caused on the gait. Our results show that the neuro-muscular response to perturbations can...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
This paper presents an approach for the closed-loop control of actuated biped that allows natural looking and energy efficient walking. Rather than prescribe kinematic trajectories or kinematic constraints, the approach is based on the prescription of state dependent torques that ??encourage?? patterned movement. Some of the prescribed torques are referenced to the inertial reference frame, which...
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed...
This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking...
Studies have shown locomotor adaptation of the ankle to assistive torques, but the ability of the knee to adapt to assistive forces has not yet been explored. Understanding how humans modulate knee joint kinematics during gait could be valuable for designing assistive devices for stroke patients. In this study we examined how healthy subjects adapt to knee flexion torque assistance during gait. We...
Ankle-foot orthoses (AFOs) are orthotic devices supporting movements of ankles for disabled people for example hemiplegia, peroneal nerve palsy, etc. In our research, we have developed the intelligently controllable AFO (I-AFO) which can control its ankle torque by using compact magneto-rheological fluid (MRF) brakes. In this paper, we describe the gait-control tests with I-AFO for a patient of the...
This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and overground walking are described. Knee and ankle joint...
In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase for introducing active compliance and then to increase stability of the walk. We validated the control...
The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need additional support during patient-cooperative training...
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