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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...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
Walknet, a biological inspired neural network, has been proposed to control walking of a 6-legged; 18 DoF walker. Control of stance movement is difficult because all legs in stance are mechanically coupled. Based on the idea of velocity feedback, recently a specific revision, local positive velocity feedback, has been proposed to solve this problem using an extremely decentralised architecture. In...
In this paper we introduce a friction observer for robots with joint torque sensing (in particular for the DLR medical robot) in order to increase the positioning accuracy and the performance of torque control. The observer output corresponds to the low-pass filtered friction torque. It is used for friction compensation in conjunction with a MIMO controller designed for flexible joint arms. A passivity...
This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable stiffness is bounded by the stiffness of the SEA's elastic component. In practical experiments with the...
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