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In order to solve the problem of energy supply for wearable and portable electronic equipment and exoskeleton, a direct energy recovery mechanism based on hydraulic transmission principle was designed. Firstly, according to the particularity of human body structure and function, establish a theoretical model can reflect the state of human body by Lagrange modeling method. Based on the established...
The tonic postural system guarantees the stability of the human body in upright stance and during locomotion. It is considered as a complex organization which involves several internal systems and has multiple sources of information. In this paper, we provide a review of techniques and materials for human stability assessment. The primary tools to record and evaluate human sways in static posture...
As people age, they become more fragile and exhibit changes in their gait and balance. This state of fragility increases their vulnerability to fall incidents. Gait and balance assessment is usually performed in a clinical setting primarily after a fall. However, daily monitoring has become essential in order to evaluate the quality of gait and alert the patient in case of a risky situation. In this...
The elderly sometimes fall owing to tripping caused by decreased dorsal flexion during the swing phase. A wearable assist device that was able to increase dorsal flexion to reduce the risk of tripping was proposed in this study. This device assists in dorsal flexion during the swing phase by transferring the tension force from the upper body to the foot by connecting them using strings. To improve...
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...
Humans, due to aging and hormonal changes are prone to pains in their limbs. As a result of which, the fundamental activity of humans i.e., movement pattern of limbs also known as gait is affected. By exerting unequal weight on both limbs in-order to avoid pain in one leg, humans slowly develop an abnormal gait pattern consisting of limping and sideways bend in the posture. This often goes unnoticed...
The aim of this study was to assess the repeatability of the EMED®-A and identify the repeatability of data for different types of measurements (walking without load, walking with load, standing without load, and standing with load). Each load weighing 1.5 kg must be hold at left and right hands. Contact area (CA), maximum force (F), peak pressure (PP) were calculated. In addition, coefficient of...
Congetinal talipes equinovarus (CTEV) or known as clubfoot is a deformity present at birth involving one foot or both. This deformity can be treated surgically and nonsurgically. Surgical operation is not preferred by patients as it causes severe pain after treatment. Therefore, non-surgical operation has become the major option to treat this deformity because it has been proven successfully by researchers...
In order to understand the movement ecology of species, preprocessing is considered a fundamental step to in treating any signal contaminated with noise. Thus it is performed on data to remove undesirable characteristics that were introduced during acquisition. A modified filtering model of gait vertical ground reaction force signals is highlighted in this work in the light of the commonly applied...
Gait is one of biometrie information and defined as pattern movement of lower limb. Clinical gait analysis is important for treatment, diagnosis, and reference for therapy. This paper presents kinematics, kinetics analysis, and kinesiological of muscle signal using complex data acquisitions from normal subject. Gait data were taken using 4 instruments, Optotrak certus 3020, Vernier Force Plate, 8...
In order to meet the requirement of walking pattern adjustment according to the surface type, aiming at the NAO humanoid robot in this paper, a high resolution tactile sensor based on the force sensing resistor array is designed and fabricated, which can be adhered to the foot of humanoid robot. In the process of robot walking, a series of tactile images are eventually generated by processing the...
Robust motion is of great significance when humanoids are placed in complex and uncertain environments. In this paper, multitasks are merged in the way of null space projection according to their priorities. Momentum compensation is considered as one task and utilized to reject unknown disturbances. Two strategies are put forward to restrain the sudden change of momentum. One is to calculate the correction...
In this paper, we propose an energy-efficient robotic leg design using a redundantly actuated parallel mechanism (RAPM). By adding an actuator parallel to the serially-actuated leg, we show that the legged machine can reduce mechanical energy loss. We begin with reviewing kinematic model of parallel mechanisms and then present an optimal torque distribution algorithm among redundant actuators which...
Some unilateral lower-limb amputees load the intact limb more than the prosthetic limb. This can cause chronic pains, fatigue, lumbago, and joint diseases, including knee osteoarthritis. To avoid and counteract these symptoms it is necessary to improve their asymmetric gait. Increasing the function of the hip abductor muscle is important to maintaining symmetrical weight distribution. Therefore, the...
Robotic prosthetic foot-ankle prostheses typically aim to replace the lost joint with revolute joints aimed at replicating normal joint biomechanics. In this paper, a previously developed robotic ankle prosthesis with active alignment is evaluated. It uses a four-bar mechanism to inject positive power into the gait cycle while altering the kinematics of the ankle joint and pylon segment to reduce...
In this paper, we present a control method for bipedal robotic walking based on insights we obtain from simple models. Inspired by the virtual pendulum (VP) concept and the spring-mass walking models, we propose a force direction control method to redirect the axial force of a compliant leg in order for walking with upright trunk. We first consider a dynamic simulation of a simple planar walking model...
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...
This paper introduces a quadruped soft-amphibious robot using 4.0 mm diameter thin and soft McKibben actuator. The robot utilizes its leg and body bending mechanism to locomote. For each leg, three links of the actuators are arranged in parallel with fixed upper and bottom part. Then, four actuators are arranged in parallel and fixed with a thin plastic plate in between the actuators for the body...
Gait and balance disorders are among the most common causes of falls in older adults. Most falls occur as a result of unexpected hazards while walking. In order to improve the effectiveness of current fall-prevention programs, new balance training paradigms aim to strengthen the control of the compensatory responses required after external perturbations. The aim of this study was to analyze the adaptions...
The guidelines for enhancing robot-assisted training for post-stroke survivors head towards increasing exercise realism and variability; in particular lower limb rehabilitation needs the patient to feel challenged to adapt his locomotion and dynamic balance capabilities to different virtual ground scenarios. This paper proposes a design for a robot whose end-effector acts as a footplate to be in permanent...
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