This paper deals with the stable walking of biped robots. The presented control algorithm enables a biped to perform stable walking without using any precomputed trajectories. The algorithm merges gait trajectory generation and control, and can be used for global control, for local control along an existing trajectory as well as for online computation of gait trajectories for stable walking. The inputs for the algorithm are a few parameters such as walking speed and step size. The performance of the algorithm is demonstrated by simulation.

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A robot, CWRU Robot V (Ajax) has been constructed based on the death head cockroach, Blaberus discoidalis. In an attempt to further take advantage of the neuromechanics of the animal, actuators with muscle-like properties have been employed that demonstrate a superior force to weight ratio over conventional actuation devices. Although it is not feasible to capture the entire range of motion displayed by the animal (seven degrees of freedom per leg), research has shown that twenty-four degrees of freedom provide a sufficiently close approximation for agile walking and climbing. The fifteen kilogram robot has an offboard power source and control system. Preliminary tests show that it is capable of maintaining stance and lifting significant payloads, as well as rough, open-loop walking.

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One overarching goal drives our research and development activities: to revolutionize rehabilitation medicine with robotics, mechatronics, and information technologies that can assist movement, enhance treatment and quantify outcomes. In this chapter, we present three fronts of this revolution: rehabilitation robotics, orthotics, and prosthetics. The first and newest approach, rehabilita-tion robotics, has grown significantly in the last ten years (c.f. special issue of the Journal of Rehabilitation Research and Development, 37:6 of Nov/Dec 2000; International Conference on Rehabilitation Robotics – ICORR 2001 and 2003). Previously, robotics were incorporated into assistive devices to help the physically challenged accommodate their impairment. Rehabilitation robotics, by contrast, fashions a new class of interactive and user-friendly robots that enhance the clinicians’ goal of facilitating recovery by not only evaluating but also by delivering measured therapy to patients. Krebs and Hogan review pioneering clinical results in the field, discuss the growing pains of forging a novel technology, and outline the potential for a brilliant future. Of the other two activities, we will limit our discussion to mechatronic systems. Orthotics and prosthetics may be considered as a category of assistive robotics. While the previous high water mark for mechatronic assistive technology occurred during the Vietnam War decades of 1960s and 1970s, recent advancements in materials, computers, and neuro-connectivity (neuro-prostheses) have reinvigorated research in this field. In fact, the lack of equivalent advances in realm of energy storage represents the only major hurdle preventing the realization of practical versions of Hollywood’s fancies such as Star Trek’s Commander Data or the Terminator. Durfee reviews pioneering developments in orthotics, Krebs and Hogan review upper-limb prostheses, and Herr reviews lower extremity prostheses. We will also discuss some emerging developments that could render some science fictions into reality.

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Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that training using devices such as Reciprocating Gait Orthoses (RGO) reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design of a new “human friendly” orthosis powered by high power pneumatic Muscle Actuators. The combination of a highly compliant actuation system with an intelligent embedded control mechanism which senses hip, knee and ankle position, velocity, acceleration and force produces a powerful yet inherently safe operation for paraplegic patients. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

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