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Robotic devices have been shown to be efficacious in the delivery of therapy to treat upper limb motor impairment following stroke. However, the application of this technology to other types of neurological injury has been limited to case studies. In this paper, we present a multi degree of freedom robotic exoskeleton, the MAHI Exo II, intended for rehabilitation of the upper limb following incomplete...
An underactuated robotic finger is proposed and studied for capturing non-cooperative objects, featuring an underactuated rigid-mechanism that can brake residual motion of non-cooperative targets. The finger consists of three joints driven by two actuators, and a set of one-input-two-output planetary gears is introduced to realize force transmission by using the ring gear and the planetary carrier...
This paper addresses the motion planning problem in the presence of obstacles for underactuated robots that are assigned a geometric task. It is assumed that the robot is subject to kinematic (joint limits, joint velocity bounds) as well as dynamic (torque bounds) constraints. Building on our previous work on task-constrained motion planning, we describe a randomized planner that works directly at...
This paper proposes an actuation mechanism of robotic arms using rotational counterweights. The robotic arm is driven by gravitational and inertia forces of the counterweight mounted on links. The joints of the robotic arms are able to rotate freely though this robot does not have any actuators on joints. Thereby, the robot has high joint flexibility. Additionally, the counterweight system reduces...
In this paper, an ongoing work for the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is reported. The twisted string actuation system is particularly suitable for very compact and light-weight robotic devices, like artificial limbs, exoskeletons and robotic hands, since it renders a very low apparent inertia at the load...
Ankle inversion-eversion compliance is an important feature of conventional prosthetic feet, and control of inversion, or roll, in robotic prostheses could improve balance for people with amputation. We designed a tethered ankle-foot prosthesis with two independently-actuated toes that are coordinated to provide plantarflexion and inversion-eversion torques. This configuration allows a simple lightweight...
Inspired by achievements in rehabilitation, motor learning, and neuroscience, therapeutic robots are aiming to provoke neuromotor plasticity and improve recovery after stroke and mobility impairments. Human sensorimotor system is specialized with position and velocity sensory fibers and exhibits variant muscle impedance in accordance with the ongoing task. The virtually interfaced robotic ankle and...
To control exoskeletons for walking gait assistance, it is of primary importance to control them to act synchronously with the gaits of users. To effectively estimate the gait cycle (or the phase within a stride) of users, we propose a new adaptive frequency oscillator (AFO). While previous AFOs successfully estimated the walking frequency from joint angles as inputs, the new AFO, called particularly-shaped...
Robotic rehabilitation devices are attractive to physical therapists. Various leg exoskeletons have been developed during the past decade and have been used in gait training. Traditional exoskeletons usually have a complex structure and add extra inertia to the wearer's leg, which may change their natural gait. In this paper, we present the design of a cable-driven active leg exoskeleton (C-ALEX)...
This paper presents the development of the lightweight hydraulic quadruped robot MiniHyQ. To the authors' best knowledge, MiniHyQ is the lightest and smallest hydraulic quadruped robot that has been built so far. MiniHyQ is a fully torque controlled robot. It has reconfigurable leg configurations. It has wide joint range of motion and an onboard compact power pack. The robot has almost the same leg...
In our previous work, we introduced a new gait for humanoid robots called Ski-Type walking to improve stability performance for rough terrain walking. By the arms holding two canes to assist walking, the humanoid robot benefits from enlarged stability margin. With canes and feet touching the ground, a closed-chain system is formed where force/torque distribution among the canes and feet is not unique...
This paper proposes an identification procedure for rate-dependent friction of robotic manipulators of which the motion is limited due to the configuration or the environment. The procedure is characterized by following three features: (i) the function for the curve fitting is defined by linear interpolation and extrapolation of sampled velocity-force pair points, (ii) each joint is controlled by...
Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents...
In this paper, we propose an estimation method of human joint movements from measured EMG signals for assistive robot control. We focus on how to estimate joint movements using multiple EMG electrodes even under sensor failure situations. In real world applications, EMG sensor electrodes might become disconnected or detached from skin surfaces. If we consider EMG-based robot control for assistive...
Lower-limb exoskeletons capable of comfortably applying high torques at high bandwidth can be used to probe the human neuromuscular system and assist gait. We designed and built two tethered ankle exoskeletons with strong lightweight frames, comfortable three-point contact with the leg, and series elastic elements for improved torque control. Both devices have low mass (< 0.88 kg), are modular,...
In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When the end-effector of a surgical robot actuated by the...
The stiffness ellipsoid, i.e. the locus of task-space forces obtained corresponding to a deformation of unit norm in different directions, has been extensively used as a powerful representation of robot interaction capabilities. The size and shape of the stiffness ellipsoid at a given end-effector posture are influenced by both joint control parameters and - for redundant manipulators - by the chosen...
For legged devices, their ability of carrying payload is a necessity for a wide range of tasks. In this paper, we present a new approach of carrying payload by using a parallel elastic mechanism, which is able to carry payloads of at least 3 times of its bodyweight. Although the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint, it is able to achieve efficient...
In whole-body control, joint torques and external forces need to be estimated accurately. In principle, this can be done through pervasive joint-torque sensing and accurate system identification. However, these sensors are expensive and may not be integrated in all links. Moreover, the exact position of the contact must be known for a precise estimation. If contacts occur on the whole body, tactile...
An increasing number of robotic systems are using compliant actuators in which springs are placed in series with the actuator. The need for identification procedures tailored to these systems is consequently rising. When measurements of both the link side and the motor side of the spring are available the dynamic parameters can be identified independent of the spring model. The excitation of the identification...
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