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This paper presents the development of new prismatic actuation approach and its application in human-safe humanoid head design. To reduce actuator output impedance and mitigate unexpected external shock, the prismatic actuation method uses cables to drive a piston with preloaded spring. By leveraging the advantages of parallel manipulator and cable-driven mechanism, the developed neck has a parallel...
The segment parameters of the human body are indispensable to compute the motion dynamics. They are used in numerous medical fields, in biomechanics and rehabilitation. Inaccuracies in the parameters generate errors in the interpretation of the motion analysis. So far no systematic method to estimate them has been proposed, rather parameters are scaled from generic tables or estimated with inappropriate...
Conventional trans-femoral (TF) prosthesis adopts body-powered actuation manner, in which flexion and extension of knee joint rely on the movement of residual limb and body weight of amputee and is controlled by adjustable damping force output by pneumatic or hydraulic cylinder mounted on the TF prosthesis. This manner, however, suffers from the deficiency of driving torque when carrying out some...
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