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Safety is one of the most important issues in rehabilitation robot suits. We have designed a rehabilitation robot suit equipped with two mechanical safety devices called the “velocity-based safety device” and the “torque-based safety device”. The robot suit assists a patient's knee joint. The safety devices work even when the robot suit's computer breaks down, because they consist of only passive...
In the past 20 years, control methods for two-inertia systems have gradually changed from semi-closed control to full-closed control in order to achieve higher precision positioning. Though there is a trend toward the expansion of the use of load-side encoders in the industry, we can hardly say that control methods using load-side information are sufficiently studied. This paper proposes a novel joint...
This paper presents a kinematic study of a pseudo-rigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method...
This paper presents a new method of realizing high-speed bipedal running with a high-speed robot using highspeed visual feedback. First, to achieve high-speed running with simple control, we developed a biped robot composed of lightweight high-torque actuators. Next we propose a control strategy which does not depend on typical methods based on a zero moment point, but instead modifies the robot's...
This paper describes a walking controller implemented on a powered ankle prosthesis prototype and assessed by a below-knee amputee subject on a treadmill at three speeds. The walking controller is a finite state machine which emulates a series of passive impedance functions at the joint in order to reproduce the behavior of a healthy joint. The assessments performed demonstrate the ability of the...
People with lower extremity amputations face great hardship in keeping pace with the world around them. The solution for their problems is the use of advanced prosthetic devices which can help them to regain their freedom of mobility. But the exorbitant cost of such devices is a great hindrance. Hence, there is a requirement for development of low cost advanced prosthetic devices. The main objective...
In this paper, the movement coupling between manipulator and spacecraft is proposed. The dynamic equations of space manipulator are established efficiently by the spatial operator algebra method. The functions of the joint variable are parameterized by polynomial interpolation method and objective function for maximum load carrying capacity is developed. In considering multiple constraints, maximum...
This paper considers a design of co-contraction level of antagonist muscles with muscle contraction dynamics for tracking control of human limb. It is known that the co-contraction of antagonist muscles play a important role for the joint stiffness and stability. Some experiment results show the existence of co-contraction. However, the performance for the responses and energy become worse in the...
The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation...
A recent addition to the biped literature is the Synthetic-Wheel Biped. This platform has arc-shaped feet and is prone to rolling on its feet when disturbed. A disturbance rejection algorithm is proposed for the Synthetic-Wheel Biped such that it can stop moving and regain its upright posture. The algorithm imposes a symmetric gait and uses impulsive control inputs to keep the states of the system...
An efficient swing-up algorithm for the acrobot is proposed. The algorithm is based on using a combination of continuous torque and impulsive braking torque. The continuous torque is derived from a positive definite Lyapunovlike function, proposed earlier in the literature. The impulsive braking torques are applied at specific instants of time which result in discrete jumps in certain states of the...
The decision of a particular model of solid rocket motor nozzle control precision and flexible functioning of the pivot center drift and systems for power moment problems, using computer-aided design and analysis methods, and establish flexible nozzle coupled rigid-flexible multi-body dynamic model; to role of the body in the system activity for work on the axial load resistance, for sine wave, rectangular...
A new approach for adaptive torque distribution of 4-Powered Caster Vehicle (4-PCV) is presented on complex terrain without any additional sensor. The objective is that torques applied to wheels are dynamically redistributed based on the real time conditions of the whole wheel-ground interactions in order to track the desired trajectory. A novel approach based on the redundant actuated wheels is proposed...
A series of convex optimal control problems is proposed as mathematical models of human postural control during quiet standing. The human body is modeled as a two-segment inverted pendulum controlled by a joint torque. Several performance criteria that are quartic in the state and quadratic in the control are utilized. The discrete-time approximation to each of these problems is a convex programming...
Strengthening muscle force by training, e.g., an isokinetic exercise is used widely used method in the rehabilitation medicine and sports medicine. However, many conventional isokinetic exercise machines cannot be used safely and easily. In this study, we developed an isokinetic and iso-contractile exercise machine, named ldquoMEM-MRBrdquo, using an ldquoMR brakerdquo. This brake includes MR fluid...
This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwing motion is modeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another...
This paper aims at generating desired feedforward torque for a specified motion by reuse of time-series torque data acquired by the iterative learning control. The suggested method named motion-scale transformation realizes a motion to an arbitrarily specified posture of a two-DOF planar robot arm on the basis of arithmetical operations of time-series torque of only four motions. The algorism is theoretically...
It is proposed the local axis gait algorithm in order to generate real-time gait patterns for a humanoid robot. The 3D foot motion planning for the humanoid global motion is developed in order to walk in any surface as plane, ramp, climbing stairs. Furthermore, it is possible continuous change the step length and orientation in real time. The cart-table model is used for planning COG and ZMP motion...
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