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This article presents a new water strider-like robot with buoyancy as the supporting force that is inspired by the water strider which can stand, glide and leap on the surface of water. The stroke mechanism of the robot has little disturbance to the water and is favorable for the stability of the water strider-like robot without extra action when it enters and leaves the water surface. Based on Interaction...
Gait analysis aims to study human motion and its potential association with chronic diseases, such as Parkinson's disease and hemiplegic paralysis, by extracting various gait characteristics. It has been a challenging problem to accurately extract temporal and spatial gait parameter and to explore the relationship between gait signal and a disease of interest. In this study, we introduce a gait sensing...
Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
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...
Limited mobility severely impacts the quality of life of persons with lower-limb amputations. Therefore, it is imperative to develop proper rehabilitation techniques to prevent falls and injuries. A vibrotactile device was developed as a training tool to enhance the rehabilitation of persons with recent lower-limb amputations. Stimuli provided by the device trains the user to sense discrete perturbations...
Nowadays, decreasing birthrate and aging population become to be the serious social problem in Japan. Therefore, needs of assistive devices are more and more increasing. When people use such assistive devices, there is a risk that devices cost user excessive burden. So analysis and evaluation of motions and load of person who uses assistive devices are necessary. In this paper, a model to analyze...
Limited travel constrains the widely application of XYZ parallel micro/nano-positioning stage. In this paper, a novel parallel-kinematics micro/nano-positioning stage is proposed with the goal of enlarging the travel range. In order to obtain a large input displacement for actuating the stage, voice coil motors (VCM) are adopted. For a large-travel parallel stage, the cross-axis motion increases the...
There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion...
We proposed a hybrid powered ankle exoskeleton. It can be able to supply positive mechanical power to the user during the swing phase of gait. The hybrid powered ankle exoskeleton was composed of a pair of compressed springs and a cable-driven actuator fasted to the shin. It was lightweight, and permitted the cable-driven actuator to provide the forces at the biological level to the ankle joint. Meanwhile...
This paper presents a system for dynamic measuring of leg length discrepancy (LLD). The system consists of two 3-RPS parallel manipulators with three degrees of freedom. Parallel manipulators have force sensors that determine the patient's center of gravity (COG) displacement. By changing the height of the moving platform of the parallel manipulator, COG returns in its expected position. The difference...
In this paper, we propose guidelines and techniques for optimally handling Vertical Ground Reaction Force (VGRF) signals acquired during running. For that endeavor, we developed an algorithm that performs leg-specific signal separation in an adaptive manner such that each VGRF signal is decomposed into two equally-sized time series each being specific to one of the two legs. Our technique was applied...
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...
Step counting is a practical way for evaluating the activity level of people in daily life. However, the widely used accelerometer-based step-counters are not able to accurately detect low-speed steps (<0.6 m/s). Our earlier study used supervised machine learning to achieved a very high performance (error rate <1.5%) in low speed step detection based on the force myography (FMG) signals recorded...
Kinetic and spatiotemporal gait analysis provides important information for the treatment and rehabilitation of patients with gait disorders. Although motion analysis laboratories with infrared motion capture cameras and force plates are the gold standard measurement technologies for analysis, they are, in most cases, impractical for community health centers or general clinical settings because of...
When quadrupedal robots execute locomotion, their interactions with the ground surface will make themselves unstable without careful compliance control for each leg. This paper presents a control method which uses a virtual leg compliance with instantaneous reflexes to external disturbance to obtain the self-stabilization for legged robots. Each leg was modeled as two sets of virtual spring and damper...
The standing balance undergoes declines with aging that contributes the fall of the elderly. But the age-related balance control during quiet standing upon a slope has not been fully understood. This study aimed to investigate the effects of aging on muscle activation during quiet standing on a slope with different angles. Sixteen healthy young subjects and 16 healthy elderly subjects participated...
The CALEB10 is an underwater robot that can swim and walk in underwater environment. In this paper, we propose a hardware design and a swimming control method to stabilize unstable pitch motion during swimming in neutral buoyancy state where CALEB10 is completely immersed in water. And the idea of this study are verified by a dynamics-based simulator and underwater experiment.
The understanding of the pedestrian behavior in the crowed is important for the assessment of urban layout and various approaches are reported for evaluating the safety of the social infrastructures. In this paper, a simulation model of pedestrian flow is proposed based on Mixed Logical Dynamical (MLD) system approach, and further a calculation algorithm for the direction change of avoidance region...
The authors proposed a basic method for generating a colhsionless walking gait of a non-straight-legged biped and analyzed the fundamental gait properties. This paper then discusses the transfer energy efficiency of the generated gait in terms of specific resistance. Numerical simulations show that energy efficiency can be improved by promoting the asymmetry of the leg shape, and by keeping the positivity...
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