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The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of...
This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.
The evaluation of the deep tendon reflex is a standard aspect of a neurological evaluation, which is frequently evoked through the patellar tendon reflex. Important features of the reflex are response and latency, providing insight to status for peripheral neuropathy and upper motor neuron syndrome. A wireless accelerometer reflex quantification system has been developed, tested, and evaluated. The...
In a musculoskeletal structure, the internal force among muscles plays an important role. Changing the internal force enables to control not only joint angles but also impedance, so that vertebrate animals can produce a motion according to a situation. Focusing on a musculoskeletal system with two links and six muscles, this paper investigate the effect of biarticular muscles when feedforward position...
In this paper, we present a novel energy-based model to describe human motion. According to biomechanics attribute of human body, we define kinetic and potential energy for each joint, upon which we convert the trajectory-based description of human motion into multi-dimensional energy series. As Dynamic Time Warping (DTW) distance is used to measure the similarity of motions, we employ an index for...
Human faces undergo a lot of change in appearance as they age. Though facial aging has been studied for decades, it is only recently that attempts have been made to address the problem from a computational point of view. Most of these early efforts follow a simulation approach in which matching is performed by synthesizing face images at the target age. Given the innumerable different ways in which...
The mechanical energy (potential+kinetic energy) and force variations associated with a muscle contracting from rest against a gravitational load were studied in nine cat muscles of the hind limb. Acceleration and deceleration phases were observed, and associated with muscular force variations of up to 25% of the mass weight in fast twitch muscles at low loads. Variations of 10% or less were associated...
To guarantee a safe transition from sitting to standing by means of functional electrical stimulation (FES), reduction of the locking velocity of the knee joint is important. To control the stand-up movement, the authors use closed-loop on-off control. They describe the development of the controller, using both a model study with computer simulations and experiments on spinal-cord-injured patients...
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