We present a novel biorobotic framework comprised of a biological muscle-tendon unit (MTU) mechanically coupled to a feedback controlled robotic environment simulation that mimics in vivo inertial/gravitational loading and mechanical assistance from ...
Inspired by the relationship between leg compliance and jumping performance in the false stick insect, this paper describes how variations in leg compliance and jumping direction affect the performance of a flea-inspired jumping mechanism. The amount...
Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme...
The contribution of the body to cognition and control in natural and artificial agents is increasingly described as "offloading computation from the brain to the body," where the body is said to perform "morphological computation." Our investigation ...
We investigate a hierarchical approach to robot control inspired by joint-level control in animals. The method combines a high-level controller, consisting of an artificial neural network (ANN), with joint-level controllers based on digital muscles. ...
Journal of medical engineering & technology
Jan 26, 2017
Colonoscopy is a diagnostic procedure to detect pre-cancerous polyps and tumours in the colon, and is performed by inserting a long tube equipped with a camera and biopsy tools. Despite the medical benefits, patients undergoing this procedure often c...
Multiple sclerosis and related disorders
Dec 12, 2016
BACKGROUND: People with multiple sclerosis (MS) often develop symptoms including muscle weakness, spasticity, imbalance, and sensory loss in the lower limbs, especially at the ankle, which result in impaired balance and locomotion and increased risk ...
Mobile robots are envisioned to cooperate closely with humans and to integrate seamlessly into a shared environment. For locomotion, these environments resemble traversable areas which are shared between multiple agents like humans and robots. The se...
In this study, we developed a novel unfixed-type experimental system that we call a '3-DOF servosphere.' This system comprises one sphere and three omniwheels that support the sphere. The measurement method is very simple. An experimental animal is p...
This paper introduces approximate time-domain solutions to the otherwise non-integrable double-stance dynamics of the 'bipedal' spring-loaded inverted pendulum (B-SLIP) in the presence of non-negligible damping. We first introduce an auxiliary system...