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Hybrid rehabilitation robotics combine neuro-prosthetic devices (close-loop functional electrical stimulation systems) and traditional robotic structures and actuators to explore better therapies and promote a more efficient motor function recovery or compensation. Although hybrid robotics and ankle neuroprostheses (NPs) have been widely developed over the last years, there are just few studies on...
In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder...
The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this paper. We take the communication delays into consideration in system design and do not require that the network topology is symmetric. A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained...
This paper proposes a novel soft robotic design that possesses variable stiffness and position feedback. A gripper adopting this design is presented. Each finger in the gripper is based on a 3D printed substrate (driven by an air actuated soft actuator) composed of two smart materials: shape memory polymer (SMP) and conductive thermoplastic polyurethane (TPU). SMP's dramatic change of elastic modulus...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices...
In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be...
Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper...
Ecofriendly high-performance electroactive polymer actuators have received great attention due to their applications in human friendly electronics such as soft haptic devices, wearable electronics, and biomedical robots. Here, we report an ecofriendly electroactive soft actuator based on porous carboxylated bacterial cellulose (CBC) membrane, thereby realizing large bending deformation, fast response,...
In this paper, we propose a new tendon routing method using branching tendon for driving a revolute joint. Unlike conventional tendon (or wire) widely used in the tendon transmission, the branching tendon splits into sub-tendons, and the end points of the sub-tendons are located on the same link but different positions. Thus, without using any complicated and bulky mechanism, the branching tendon...
Recently, studies on artificial muscles that are linearly driven like human muscles and move smoothly and flexibly have been attracting attention. In this study, AMSSB (artificial muscle based on SMA spring bundle) driven by hot water and cool water is presented and its performance evaluation results are presented. It showed applicable performance to a robot by showing a power density of 1 kW/kg and...
In this paper, a simple adaptive technique of synchronizing the motion of two systems in the master-slave configuration is presented. The slave pendulum system is required to follow the position and velocity of the master. Simply speaking, the motion errors between the master and the slave should be minimized by the feedback controllers. However, the same inputs to two similar systems do not provide...
This paper introduces a new type of versatile modular reconfigurable robot. This robot is a self-reconfigurable truss structure. The requirements and challenges involved to build a functioning system are explored. These include the functional requirements, and the implications on hardware design, software issues and topological analysis. One potential application for this robot is the shoring of damaged...
The grippers are the main structural component of anthropomorphic robots. Modern griper is a complex multiengined system with a great number of degrees of freedom. When such grippers are designed it is necessary to decrease the weight and increase the number of mobile links. Decreasing the gripper weight is possible by means of new approaches to the construction of the system of motion transmission...
The main impetus for the development of bioinspired robotic technologies stems from their applications to some tasks which require a safe interaction with human beings, e.g., during rehabilitation exercises. In this context, this work presents the mechatronic design and the tracking control of a robotic exoskeleton actuated by biomimetic and soft actuators. The exoskeleton can perform some tasks of...
We propose an event-triggered control policy for a discrete-time linear system with unreliable actuators' and sensors' links, captured by Bernoulli packet dropout models. The proposed policy is a threshold-based policy by which transmissions occur if a weighted norm of an error state vector exceeds a threshold. The threshold and the weights of the norm depend on the underlying characteristics of the...
This paper presents a novel multi-axis robotic platform for the characterization of two important neuromuscular properties of the human ankle: mechanical impedance and reflex responses. The platform is capable of producing highly accurate position perturbations up to an angular speed of 200°/s and emulating a wide range of haptic environments in two degree-of-freedom (DOF) of the ankle: dorsiflexion-plantarflexion...
In this work we propose a new method for online motion planning in the task-space for hydraulic actuated soft robots. Our solution relies on the interactive resolution of an inverse kinematics problem, that takes into account the properties (mass, stiffness) of the deformable material used to build the robot. An accurate modeling of the mechanical behavior of hydraulic components is based on a novel...
Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation...
Traditional colonoscopy requires highly trained personnel to be performed. Additionally, current devices may cause discomfort and carry the risk of perforating the bowel wall. In this paper, a soft three modular section robot is designed, modeled, controlled and tested. Each of the robotic sections has three degrees of freedom, one translation and two rotations. The robot uses a peristaltic motion...
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