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Improving in the quality of life by expanding functionality and durability while continually reducing the fabrication costs and maintaining the possibility of local fabrication, these are the four key design requirements for lower-limb prosthetics with humanitarian applications. Currently, however, there are few foot prostheses that meet these requirements. The solutions available world-wide include...
Three-dimensional stretching is needed to treat equinovarus, which deforms the patient's foot to plantarflexion, adduction, and inversion postures. We have prototyped a three-dimensional stretching machine that the patient can use for the treatment of equinovarus by him- or herself. By adopting a cable-driven mechanism with two independently controllable pneumatic actuators, the stretching machine...
The purpose of the research is to develop a myriapod robot i-CentiPot ??? that achieves significant mobility against unpredictable environment via passive dynamics. In the paper, we change foot phase, and observe locomotion. We also consider about the analogy between i-CentiPot ??? and some myriapoda.
Based on the principle of bionic hexapod, a 3D virtual prototype model of the bionic hexapod robot and the contact model between its feet and the ground are established by using MSC. ADAMS mechanical dynamics software to study the motion of the bionic hexapod robot on the horizontal ground. And then, the kinematics analysis of a single leg of the robot is made to realize the overall motion control...
Lower back pain is a major health concern worldwide. One cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. To reduce this burden, the Ministry of Health, Labour and Welfare in Japan has recommended “squat lifting.” However, this technique, which supports a large force on lower limbs, is not very popular. Therefore, we aimed to develop a power assist...
Lower back pain is a major health concern worldwide. One cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. To reduce this burden, the Ministry of Health, Labour and Welfare in Japan has recommended “squat lifting.” However, this technique, which supports a large force on lower limbs, is not very popular. Therefore, we aimed to develop a power assist...
The leg control on foot trajectory planning and contact forces is the most crucial problem for a hydraulic quadruped robot. In contrast with a non-redundant leg, the redundant one generally has larger foot workspace and more agility for leg motion control in rough terrain, however, this redundant joint obviously adds complexities and difficulties to the control system. This work aims to avoid those...
Parkinson's Disease is a degenerative neurological disorder of Central Nervous System, which affects the motor and non-motor system and for which there is still no cure. The events of Freezing of Gait are one of the most critical gait impairments and once the medication and the palliative care have not influenced the overcoming of freezing episodes, in the recent years, several non-pharmacological...
In order to realize the quantitative cognition and design application, fractal theory was introduced to do the quantitative research and fractal redesign. Based on fractal analysis software, different methods to do fractal graphics design and the corresponding application in innovative design of patterns were analyzed and summarized. On this basis, the present study used fractal graphics design software...
The ankle is one of the most commonly injured areas among athletes and other physically active people. Appropriate ankle rehabilitation is necessary to prevent chronic ankle injuries and ensure proper movement patterns for physical activity. A patient is typically prescribed exercises with a non-motorized wobble board and instructed to actively engage in several range of motions including dorsiflexion,...
Ankle motion is a significant gait parameter for walking, which includes parameters such as angle of movement while walking and the average of the angle signal. This preliminary research is to study the ankle motion of the foot by creating an electronic measurement which measures the angle, measure the number of steps, and the experimental results were analyzed the signal movement of the ankle. This...
Researchers have been worked on exoskeletons and active orthoses since 1960s. There are many competitions on these searches area. One of them is Human Exoskeleton Assistance System Prototype (HEASP) that is developed at Dokuz Eylül University. HEASP's goal is to assist one leg extremity persons. In this paper, the capturing of human walking parameters on sagittal plane is introduced. These parameters...
In this paper, we present the method used to design a humanoid robot called Johnny by optimizing the energy consumption of walking. The mechanical model is inspired on passive dynamic walkers. We used a basic genetic algorithm to find, at the same time, the optimal mechanical parameters, as well as the optimal walking trajectories and the optimal gains, for the feedback control used in the current...
Origami robots (Robogamis) use architecture to strategically activate different sets and sequence of actuators to achieve large variety of reconfigurable forms. Tribot is a unique mobile origami robot that can simultaneously choose between two modes of locomotion: jumping and crawling. When assembled, Tribot measures 64 × 34 × 20 mm3, weighs 4 g, crawls at 17% of its body length per gait cycle and...
We present a simple walking prototype that is capable of demonstrating an efficient, near-collisionless gait down a ramp. This inertia-coupled rimless wheel is able to “walk” down a 3° incline, which corresponds to a cost of transport of approximately 0.05. This is the first device designed to demonstrate the concept of collisionless walking, where energy-loss due to foot/ground collisions is minimized...
Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy-efficient one-legged hopper. Such a one-legged hopper was designed and constructed. The impact efficiency...
Aiming to apply soft actuators in driving a walking robot, the design, fabrication and locomotion of a bio-inspired printable hexapod robot are studied. The robot mimics the insect's design and walking posture by driving six legs with alternating tripod gait which provides its locomotive adaptability on flat terrains. The versatile movements of the robot's leg are achieved by using soft and multiple...
Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model...
Robots are designed to drive in various kind of environment but the nature environments are very complex. The purpose of this research is to design the robot for amphibious locomotion based on hexapedal mechanism. Prototype is assembled and various experiments are performed for the prototype. In the experiment on the water-surface, we measure rolling angle and lifting force and guarantee the stable...
FES rowing is a complete whole body exercise that has potential to provide aerobic and muscle training benefits for individuals with SCI. Current FES rowing systems comprise ‘fixed’ stretcher designs whereby the disabled rower moves their seated body mass over a sliding bar while the foot stretcher remains fixed. The present work describes the development of an alternate ergometer design for FES rowing,...
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