AIMC Topic: Torque

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Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
Design of rehabilitation and physical assistance robots that work safely and efficiently despite uncertain operational conditions remains an important challenge. Current methods for the design of energy efficient series elastic actuators use an optim...
Humans Computer Simulation Torque Elasticity Ankle Joint Robotics Equipment Design Walking Motor Activity Uncertainty Joint Prosthesis
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Preliminary Evaluation of Disturbance Torque Estimation Approaches for Lower-limb Robotic Rehabilitation.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
In robotic rehabilitation, knowledge of human joint torques is very important to provide reliable data for clinical assessment and to provide feedback information about the user in order to design safe robotic control strategies. Nevertheless, their ...
Time Factors Lower Extremity Robotics Torque Stroke Rehabilitation Humans Algorithms Reproducibility of Results
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A Semi-Wearable Robotic Device for Sit-to-Stand Assistance.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jun 1, 2019
With the aging of the population in the United States, an increasing number of individuals suffer from mobility challenges. For such individuals, the difficulty of standing up from a seated position is a major barrier for their daily physical activit...
Wearable Electronic Devices Lower Extremity Posture Female Young Adult Male Torque Joints Knee Robotics Electromyography Motion Humans
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A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns.

Science (New York, N.Y.) Sep 14, 2018
Insects are among the most agile natural flyers. Hypotheses on their flight control cannot always be validated by experiments with animals or tethered robots. To this end, we developed a programmable and agile autonomous free-flying robot controlled ...
Tephritidae Flight, Animal Tail Biological Mimicry Animals Robotics Torque Acceleration
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Elbow training device using the Mechanically Adjustable Stiffness Actuator(MASA).

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference Jul 1, 2018
This paper presents an elbow training device using the Mechanically Adjustable Stiffness Actuator(MASA) for stroke survivors with hemiplegia. The MASA is a series elastic actuator whose mechanical stiffness is variable. Stiffness and the neutral posi...
Methylglycosides Humans Robotics Elbow Equipment Design Torque
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Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference Jul 1, 2018
Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the st...
Orthotic Devices Rehabilitation Robotics Gait Torque Humans
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Bio-inspired control of joint torque and knee stiffness in a robotic lower limb exoskeleton using a central pattern generator.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jul 1, 2017
Robotic lower limb exoskeletons are becoming increasingly popular in therapy and recreational use. However, most exoskeletons are still rather limited in their locomotion speed and the activities of daily live they can perform. Furthermore, they typi...
Biomimetics Equipment Design Exoskeleton Device Knee Joint Gait Walking Humans Biomechanical Phenomena Models, Biological Computer Simulation Lower Extremity Torque Robotics
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Self-aligning exoskeleton hip joint: Kinematic design with five revolute, three prismatic and one ball joint.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jul 1, 2017
Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable an...
Adult Biomechanical Phenomena Finite Element Analysis Male Torque Middle Aged Humans Hip Joint Robotics Exoskeleton Device Prosthesis Design
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On the stiffness analysis of a cable driven leg exoskeleton.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jul 1, 2017
Robotic systems are being used for gait rehabilitation of patients with neurological disorder. These devices are externally powered to apply external forces on human limbs to assist the leg motion. Patients while walking with these devices adapt thei...
Leg Exoskeleton Device Neurological Rehabilitation Humans Robotics Models, Biological Torque
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Cross-wire assist suit concept, for mobile and lightweight multiple degree of freedom hip assistance.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Jul 1, 2017
In this paper, we present our cross-wire assist concept, for assisting a single joint in multiple degrees of freedom. It is comprised of four motor driven Bowden cable actuators (wires) per assisted joint, with the wires crossed over each other at th...
Humans Wearable Electronic Devices Robotics Hip Joint Rehabilitation Femur Equipment Design Orthotic Devices Torque Range of Motion, Articular
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