AIMC Topic: Torque

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Force and torque-free helical tail robot to study low Reynolds number micro-organism swimming.

The Review of scientific instruments Apr 1, 2022
Helical propulsion is used by many micro-organisms to swim in viscous-dominated environments. Their swimming dynamics are relatively well understood, but a detailed study of the flow fields is still needed to understand wall effects and hydrodynamic ...
Torque Swimming Viscosity Robotics Models, Biological
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[Mechanical Design and Research of Wearable Exoskeleton Assisted Robot for Upper Limb Rehabilitation].

Zhongguo yi liao qi xie za zhi = Chinese journal of medical instrumentation Jan 30, 2022
Based on the biomechanical mechanism of human upper limb, the disadvantages of traditional rehabilitation training and the current status of upper limb rehabilitation robot, a six degree of freedom, flexible adjustment, wearable upper limb rehabilita...
Torque Exoskeleton Device Upper Extremity Wearable Electronic Devices Robotics Humans Paralysis Biomechanical Phenomena
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Assistive Sliding Mode Control of a Rehabilitation Robot with Automatic Weight Adjustment.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference Nov 1, 2021
There are approximately 13 million new stroke cases worldwide each year. Research has shown that robotics can provide practical and efficient solutions for expediting post-stroke patient recovery. This simulation study aimed to design a sliding mode ...
Robotics Torque Humans Adaptation, Physiological Algorithms Computer Simulation
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Hysteresis modeling and compensation of a rotary series elastic actuator with nonlinear stiffness.

The Review of scientific instruments Sep 1, 2021
Series elastic actuators (SEAs) have widely been adapted in robots where safe human-robot interaction is required for accurate and robust force control. Recent research on the SEAs has shown that the SEA with a user-defined variable stiffness possess...
Models, Theoretical Robotics Equipment Design Humans Torque Nonlinear Dynamics
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Comparison of deep learning-based methods in multimodal anomaly detection: A case study in human-robot collaboration.

Science progress Jan 1, 2021
Human-Robot Collaboration (HRC) has been widely used in daily life and industry for maximizing the advantages of humans and robots, respectively. However, the internal modeling errors or external perturbations still affect robotic systems such as hum...
Deep Learning Robotics Torque Humans Touch Industry
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Design of the Clutched Variable Parallel Elastic Actuator (CVPEA) for Lower Limb Exoskeletons.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference Jul 1, 2019
The paper presents a novel clutched variable parallel elastic actuator (CVPEA) mainly consisting of a motor and a flat spiral spring in parallel to actuate the hip of lower limb exoskeletons in sagittal plane. To minimize the power and torque require...
Exoskeleton Device Equipment Design Walking Torque Orthotic Devices Gait Biomechanical Phenomena Lower Extremity Robotics Humans
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Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
Robot assisted gait retraining is an increasingly common method for supporting restoration of walking function after neurological injury. Gait speed, an indicator of walking function, is correlated with propulsive force, a measure modulated by the po...
Hip Joint Robotics Knee Joint Exoskeleton Device Torque Humans Gait Adult Male Range of Motion, Articular Female Models, Theoretical
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RNN-Based On-Line Continuous Gait Phase Estimation from Shank-Mounted IMUs to Control Ankle Exoskeletons.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
Several research groups have developed and studied powered ankle exoskeletons to improve energetics of healthy subjects and the mobility of elderly subjects, or to reduce asymmetry in gaits induced by strokes. To achieve optimal effect, the timing of...
Humans Neural Networks, Computer Male Exoskeleton Device Gait Rotation Torque Ankle Motion
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An Assistive Control Strategy for Rehabilitation Robots Using Velocity Field and Force Field.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
In this paper, we address the problem of assist-as-needed (AAN) control of rehabilitation robots. The objective is to develop a path tracking control scheme with the minimized intervention of the robot to gain active participation of impaired subject...
Foot Hip Knee Self-Help Devices Exoskeleton Device Biomechanical Phenomena Robotics Torque Humans Rehabilitation
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Adaptive Continuous Integral-Sliding-Mode Controller for Wearable Robots: Application to an Upper Limb Exoskeleton.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
This paper introduces an adaptive integral sliding mode controller for exoskeletons. The controller design is based on the hypothesis that only classical properties are known such as parameters' bounds, and all other functions are unknown. To ensure ...
Upper Extremity Robotics Joints Acceleration Wearable Electronic Devices Humans Torque Algorithms Exoskeleton Device Adult Male
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