AIMC Topic: Torque

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A Torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and Its application to hexapod running.

Bioinspiration & biomimetics Feb 1, 2019
We report on the development and analysis of a new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP), which is a successor to the previously developed spring loaded inverted pendulum model with rolling ...
Animals Robotics Models, Biological Biomechanical Phenomena Insecta Extremities Space Flight Flight, Animal Running Torque Biomimetics
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Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail.

Bioinspiration & biomimetics Dec 7, 2018
This paper analyzes control methodologies to implement maneuvering and stabilization behaviors in a bipedal robot using a bioinspired robotic tail. Looking to nature, numerous animals augment their legs' functionality using a tail nature, numerous an...
Torque Leg Humans Feedback Biomechanical Phenomena Walking Models, Biological Animals Robotics
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Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator.

Soft robotics Mar 2, 2018
Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has not yet be...
Equipment Design Torque Exoskeleton Device Humans Models, Theoretical Robotics
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Implementation of a Surface Electromyography-Based Upper Extremity Exoskeleton Controller Using Learning from Demonstration.

Sensors (Basel, Switzerland) Feb 5, 2018
Upper-extremity exoskeletons have demonstrated potential as augmentative, assistive, and rehabilitative devices. Typical control of upper-extremity exoskeletons have relied on switches, force/torque sensors, and surface electromyography (sEMG), but t...
Humans Electromyography Torque Exoskeleton Device Upper Extremity Machine Learning Muscle, Skeletal Robotics
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An optimal control strategy for hybrid actuator systems: Application to an artificial muscle with electric motor assist.

Neural networks : the official journal of the International Neural Network Society Jan 11, 2018
Humans use multiple muscles to generate such joint movements as an elbow motion. With multiple lightweight and compliant actuators, joint movements can also be efficiently generated. Similarly, robots can use multiple actuators to efficiently generat...
Torque Movement Robotics Elbow Joint Motion Humans Muscle, Skeletal
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Treadmill vs. overground walking: different response to physical interaction.

Journal of neurophysiology Jul 12, 2017
Rehabilitation of human motor function is an issue of growing significance, and human-interactive robots offer promising potential to meet the need. For the lower extremity, however, robot-aided therapy has proven challenging. To inform effective app...
Female Adult Humans Ankle Adaptation, Physiological Braces Male Walking Neurological Rehabilitation Robotics Exercise Therapy Exercise Test Torque
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A Control Scheme to Minimize Muscle Energy for Power Assistant Robotic Systems Under Unknown External Perturbation.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society Jul 5, 2017
This paper proposes a novel control method to minimize muscle energy for power-assistant robotic systems that support the intended motions of a user under unknown external perturbations, using surface electromyogram (sEMG) signals. Conventional contr...
Electromyography Torque Activities of Daily Living Healthy Volunteers Wrist Joint Algorithms Robotics Adult Biomechanical Phenomena Elbow Joint Male Humans Signal Processing, Computer-Assisted Muscle, Skeletal
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Biomechanical Reactions of Exoskeleton Neurorehabilitation Robots in Spastic Elbows and Wrists.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society Jun 9, 2017
Spasticity is an important factor in designing wearable and lightweight exoskeleton neurorehabilitation robots. The proposed study evaluates biomechanical reactions of an exoskeleton robot to spasticity and establishes relevant guidelines for robot d...
Exoskeleton Device Stroke Rehabilitation Neurological Rehabilitation Spasm Elbow Wrist Torque Middle Aged Female Muscle, Skeletal Aged Robotics Biomechanical Phenomena Humans Male Algorithms
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Scaling effects in spiral capsule robots.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine Feb 17, 2017
Spiral capsule robots can be applied to human gastrointestinal tracts and blood vessels. Because of significant variations in the sizes of the inner diameters of the intestines as well as blood vessels, this research has been unable to meet the requi...
Torque Capsules Pressure Computer Simulation Robotics Hydrodynamics
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Effect of body weight support variation on muscle activities during robot assisted gait: a dynamic simulation study.

Computer methods in biomechanics and biomedical engineering Feb 9, 2017
BACKGROUND AND OBJECTIVES: While body weight support (BWS) intonation is vital during conventional gait training of neurologically challenged subjects, it is important to evaluate its effect during robot assisted gait training. In the present researc...
Orthotic Devices Knee Joint Gait Body Weight Torque Models, Theoretical Humans Computer Simulation Hip Joint Muscle, Skeletal Biomechanical Phenomena Ankle Joint Robotics
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