Proposes using two under-actuated robotic systems as two legs of a walking machine. Since the ankle joints of both legs have no actuation, the walking machine remains upright only when it is balanced via a computer-controller. The design of a stabilizing controller for one under-actuated leg, using a μ-synthesis approach, is explained in detail. The system at the equilibrium can be represented by a non-minimum phase system. The right half plane zero severely limits the achievable closed-loop bandwidth and robustness in modeling errors.

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Категория: Научные статьи | Нет комментариев »

The design of a prosthetic device for patients who have suffered loss of muscular control of the hand is described. The authors present some preliminary design considerations, with emphasis on the sensing and actuation systems. The prototype achieves several movements of the fingers of the hand. The design is closely based on the natural human hand to ensure effectiveness and comfort. The exoskeleton is worn as a tight glove, and the joints are flexed by cables and motors. Some preliminary test results are reported.

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Категория: Научные статьи | Нет комментариев »

This invention, referred to as an Energy-Efficient Running Aid, relates to passive (spring-actuated) running/walking aids for ortheses, prostheses, and robotsto allow faster running using less energy. The full invention is an leg ortheses or an energy-efficient running brace. It is a running brace which acts in parallel with a runner’s leg to support the runner during stance phase and to capture all foot-impact energy, preferably with the optimal constant-force curve, for use to thrust said runner back into the air during toe-off. Novel structural elements include a hyper-extending knee-lock, a variable-angle knee-lock, a kneeless adjustable-length brace, a self-guiding/constant force bow spring, a pulley-based/constant-force bow spring, a asymmetric brace foot, a load-tightening full harness, and a means to guarantee lock release at toe-off. The running brace eliminates impact injuries by absorbing the impact energy.

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The Rutgers Master II-ND glove is a haptic interface designed for dextrous interactions with virtual environments. The glove provides force feedback up to 16 N each to the thumb, index, middle, and ring fingertips. It uses custom pneumatic actuators arranged in a direct-drive configuration in the palm. Unlike commercial haptic gloves, the direct-drive actuators make unnecessary cables and pulleys, resulting in a more compact and lighter structure. The force-feedback structure also serves as position measuring exoskeleton, by integrating noncontact Hall-effect and infrared sensors. The glove is connected to a haptic-control interface that reads its sensors and servos its actuators. The interface has pneumatic servovalves, signal conditioning electronics, A/D/A boards, power supply and an imbedded Pentium PC. This distributed computing assures much faster control bandwidth than would otherwise be possible. Communication with the host PC is done over an RS232 line. Comparative data with the Cyber-Grasp commercial haptic glove is presented.

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О чём, по вашему мнению, обычному человеку говорит такое название, как «электроактивные полимеры» (electroactive polymer — EAP)? Скука, небось, смертная — подумает обычный человек.

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Категория: Двигатели | Нет комментариев »