A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment
University of Tehran（德黑兰大学）；Harvard Medical School（哈佛医学院）；Tehran University of Medical Sciences（德黑兰医科大学）；Yerevan State Medical University（埃里温国立医科大学）；University of Texas at Dallas（德克萨斯大学达拉斯分校）
Afshin Alipour, Mohammad J. Mahjoob, Zahra Fakhari, Ara Nazarian
备注：
23 pages, 14 figures
发表信息：
Journal of Robotics and Control (JRC) [Online], 3.4 (2022): 483-495
Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The issue observed in the stationery trainers for simultaneous knee and ankle-foot complex joints is that they restrict the natural motion of ankle-foot in the rehab trainings due to the insufficient Degrees of Freedom (DOFs) of these trainers. A new stationary knee-ankle-foot rehab robot with all necessary DOFs is developed here. A typical rehab training is first implemented in simulation, and then tested on a healthy subject. Results show that the proposed system functions naturally and meets the requirements of the desired rehab training.
D-Optimality-Guided Reinforcement Learning for Efficient Open-Loop Calibration of a 3-DOF Ankle Rehabilitation Robot
Affiliated Provincial Hospital, Shandong First Medical University（山东第一医科大学附属省立医院）；Faculty of Engineering, University of New South Wales（新南威尔士大学工程学院）；Faculty of Engineering and IT, University of Technology Sydney（悉尼大学技术与信息工程学院）
Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement
Mechanical Engineering Department, at the University of Delaware（德克萨斯大学达勒姆分校机械工程系）；Mechanical Engineering Department, at the Rice University（赖斯大学机械工程系）
K. N. Toosi University of Technology（K. N. 图西理工大学）；Max-Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；University of Southern California（南加利福尼亚大学）
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing differ…
Max-Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Google X（谷歌X）；K. N. Toosi University of Technology（托西斯理工大学）；New York University（纽约大学）
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not necessary to optimize walking over several steps to ensure gait viability and show that it is sufficient to merely select the next step timing and location. Using this insight, we propose a novel walking pattern generator that optimally selects step location and timing at every control cycle. Our approach is computationally simple compared to standard approa…
University of Texas at Austin（德克萨斯大学奥斯汀分校）；Stanford University（斯坦福大学）
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomotion. As such, in this paper, we devise a new WBC, dubbed whole-body locomotion controller (WBLC), that can achieve experimental dynamic walking on unsupported passive-ankle biped robots. A key aspect of WBLC is the relaxation of contact constraints …
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under the influence of gravity. In most situations, while climbing downstairs, human hip also follow brachistochrone trajectory for a more responsive motion. Here, an adaptive trajectory planning algorithm is developed so that biped robots of varying link lengths, masses can climb down on varying staircase dimensions. We assume that the center of gravity (COG) of the biped concerned lies on the hip. Zero Moment Point (ZMP…
Ozyegin University（厄兹耶金大学）；Istanbul Medipol University（伊斯坦布尔梅迪波尔大学）；Research Institute for Health Sciences and Technologies (SABITA), Istanbul Medipol University（伊斯坦布尔梅迪波尔大学健康科学与技术研究所（SABITA））
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body influence each other if there is a lack of performance in either of them.Any predictable or sudden perturbation may pave the way for the divergence of CoM from equilibrium and inhomogeneous pressure distribution of the body.Such a situation is often observed in the daily lives of MS patients due to their poor APAs and CPAs and induces their falls.The way of…
University of Trento（特伦托大学）；Scuola Superiore Sant’Anna（圣安娜高等学校）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion control. Animals' anatomy and locomotion capabilities emphasize the importance of that lightweight legs and integrated, compact, series elastically actuated for distal leg joints. But unlike robots, animals achieve series elastic actuation by their muscle-tendon units. So far no designs are available that feature all characteristics of a perfect distal legged locomotion actuator; a low-weight and low-inertia design,…
Florida Institute for Human and Machine Cognition（佛罗里达人类与机器认知研究所）；Virginia Tech（弗吉尼亚理工大学）
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to combine traditional "ankle strategy" balancing with step timing and location adjustment techniques. In doing so, the robot is able to step quickly to the necessary location to continue walking. In this work, we present both a new swing speed up algorithm to adjust the step timing, allowing the robot to set the foot down more quickly to recover from errors in the d…
University of Texas at Dallas（德克萨斯大学达拉斯分校）；San Francisco State University（旧金山州立大学）；University of Texas Southwestern Medical Center（德克萨斯大学西南医学中心）
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this article, we develop a new controller that is capable of both rhythmic (constant-speed) walking, transitions between speeds and/or tasks, and some common volitional leg motions. We introduce a new piecewise holonomic phase variable, which, through a finite state machine, forms the basis of our controller. The phase variable is constructed by measuring the thigh an…
Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
Technical University of Munich (TUM)（慕尼黑工业大学）；Delft University of Technology (TU Delft)（代尔夫特理工大学）；German Aerospace Center (DLR)（德国航空航天中心）；Istituto Italiano di Tecnologia（意大利技术研究院）；University of Pisa（比萨大学）
