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Numerous researches have been carried out to use robot in the area of stroke rehabilitations. The conventional approach is to assist patient to perform Activities of Daily Living (ADL) through a set of pre-programmed trajectories. The main drawback lies in the lack of voluntary movement by the patient. Many of these works have been carried out by using positional feedback control. In this kind of...
In recent years, robots have been used in medicine and everyday life. Therefore, it is desirable that these robots be flexible and lightweight. For this reason, we have studied and developed straight-fiber-type artificial muscles derived from McKibben-type muscles, which have excellent contraction rate and force characteristics. Last year, we developed a manipulator with six degrees of freedom using...
This paper suggests control algorithm for a robot manipulator which has biarticular muscle torque input in addition to the conventional two monoarticular muscle torques. Using a modified Jacobian matrix which is based on the absolute angle of two joints, we derive simple relationship between an endpoint force/position and three muscle torques. Based on this relationship a feedback controller is developed...
The paper presents an introduction of virtual reality environments to the commercial single-joint rehabilitation robot. A dynamometer has been modified to the level that enables gait goniogram based position control. The robot mimics the isolated joint movement while the subject is required to perform the task in the virtual environment. The subject generates joint torque to control the object in...
The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance controller...
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