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A sitting knee rehabilitation robot has been developed in order to work with biological signals of patients muscles (EMG). This type of robot is capable to perform all active and passive exercises to improve the functionality of injured knee and thigh muscles. Intention of patients/operators to move their knee is detected by electrical activities of knee muscles (EMG) recorded above an observed muscle...
Traditional elastic actuator is the flexible structure which needed to connected to the output shaft of the brake. Besides, according to the principle of the state of the connection, it could be divided into series elastic actuators (SEA), as well as parallel elastic actuator (PEA) [3]. Therefore, the brake output has a certain flexibility, providing compliance or shock absorption, and other functions...
The robotic buoy which is a mobile mooringless buoy and keeps position autonomously against ocean current.[1][2][3] The robotic buoy is specialized for operating on an environment where is too deep to anchor for mooring, like middle of an ocean. The robotic buoy is compose of two systems, propulsion system and energy harvesting system. ‘Wave Turbine’ is a PTO(Power take-off)[4] to harvest oceanic...
This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design,...
Impedance control plays an important role in the control of human-machine control system, especially in rehabilitation devices. It is essential to estimate patient's limb stiffness to adjust the impedance parameters of controller. A large number of studies showed that muscle co-contraction would influence the limb stiffness. This study aimed to investigate the change of ankle joint stiffness using...
Disable people requires the assistance of the motion, of their lower limbs to improve their movement ability. For patients with lower limb paralysis, spinal cord injury and other diseases, the use of the lower limb rehabilitation robot is to gain trajectory training, which is a good means of recovery. Among them, the passive control mode is to help patient's pre-adaptive training; which refers to...
In recent years, extensive research and development have been carried out for devices and software that interact with the virtual reality environment. Omni-directional treadmill (ODT) lies among such devices; it simulates a human locomotion such as walking and running. It provides a two-dimensional locomotion interface function for interacting an avatar in the virtual environment and the user in the...
A robotic system may be affected by external disturbances and parametric uncertainness, which change its dynamical behavior. One of the most common disturbances is the payload variation that affects the control system performance. If the payload variation is known, its negative effects can be minimized adjusting the control system parameters. However, when the payload variation is unknown, the control...
Considering the problem that the 18 DOF humanoid robot's joints connect with others part is weak. The finite element analysis is adopted to analyze the reasons why the connection of human robot's joints with others is weak. First of all, the 3D model of humanoid robot arm is set up on the SolidWorks; Secondly, the shoulder joint and elbow joint of the humanoid robot arm 3D model are applied to the...
This paper presents the design and modeling of a novel torsion spring-based actuator (TSA) with variable stiffness. The mechanical structure of stiffness regulation contains two opposite-handed torsion springs and two cam bearing followers (CFs). The operational principle is by changing the contact point of the torsion spring and the CF to regulate the stiffness. The proposed design allows for the...
In this paper, a method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis is presented. Firstly, the flexible coupling dynamics model of the robot is established and modal analysis is carried out. Then the concept of relative sensitivity is presented, by which the optimization variables are determined. According to the operating characteristics...
In this paper, we present the analysis of the torque transmitted to a tilted permanent magnet that is to be embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using an analytical model and experimental results for a small cubic permanent magnet that is driven by an external magnetic system made of an array of arc-shaped permanent magnets (ASMs). Our experimental...
The development of a geared motor plus a clutch system is known as a human-friendly actuator, and many studies on clutch actuation systems have been conducted. Such system has high backdrivability and torque limitation, which are major advantages compared with a unit geared motor. These studies are divided into two groups. An input motor is velocity-controlled as a constant velocity source and it...
Energy consumption of robotic systems is getting more and more attention. Previous work suggests that energy losses in the actuators of robots are a significant source of high energy consumption. A possible reason is that, so far, motor-gearbox selection methods have not focussed on energy efficiency. In this work, we present a model-based motor-gearbox selection procedure with the focus on key mechanisms...
Robot arms require actuators that are powerful, precise and safe. In this paper we present the design and implementation of a novel rotary hybrid pneumatic-electric actuator (HPEA) for use in robot arms, particularly those intended for collaborative applications. It produces 3.5 times higher torque than prior HPEAs while maintaining the low mechanical impedance and inherent safety of the HPEA approach...
This paper presents a chain type, homogenous, mobile and modular multi-robot system (ULGEN) with self-assembly, self-reconfigurability, localization and high mobility capabilities. The main goal of the work is to have high maneuverable modules which can travel autonomously to explore areas individually and change their configuration when encountering obstacles. Once the optimal path is found by any...
With the development of aging society, the number of hemiplegia patients grows rapidly and over 75% of survivors suffering hemiplegia need rehabilitation training. To assist therapists, series of rehabilitation training robots were carried out. However, most of current researches are only focusing on function training. They ignore the importance of neurological rehabilitation in early phrase of hemiplegia...
This paper proposes a force control system including contact process using acceleration-sensor-based instantaneous state observer for high-stiffness gear drive. The proposed system is structured by PI velocity control system and IP force control system based on resonance ratio control system. An instantaneous state observer is used to a resonance ratio control system for a high-stiffness gear drive...
The need for a means of assistance in human grasping, to compensate for weakness or to augment performance, is well documented. An appealing new way of doing so is through soft, wearable robots that work in parallel with the human muscles. In this paper we present the design and modelling of a tendon-driving unit that empowers a wearable, soft glove. Being portability one of our main objectives, we...
In minimally invasive surgery (MIS) the aspect of miniaturization is getting more and more demanding. On the other hand, it is also important to assure high stability and large actuation forces at the end effector. Here we present the design and the development of a 1 degree of freedom (DOF) rotational joint, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification...
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