Archive for Ноябрь 30th, 2006

Bowden Cable Actuator for Torque-Feedback in Haptic Applications

Дата: Ноябрь 30th, 2006 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6931
  • Название документа: Bowden Cable Actuator for Torque-Feedback in Haptic Applications
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Pierre Letier, Andre Schiele, More Avraam, Mihaita Horodinca, Andre Preumont
  • Правопреемник/учебное заведение: Active Structures Laboratory Universite Libre de Bruxelles, European Space Agency Automation and Robotics Laboratory
  • Дата публикации документа: 2006-11-30
  • Страна опубликовавшая документ: Бельгия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Не заполнено
  • Вложения: Да
  • Аналитик: Глаголева Елена

This paper introduces a novel type of actuator for force-reflection to haptic master interfaces. The actuator is based on a DC motor that is relocated from the mechanism joint by means of bowden cable transmissions. After an introduction and formulation of the project goals, the paper highlights some important bowden cable transmission characteristics that influence the design of the necessary hardware. Next, a hardware prototype is presented that has been built to analyze the transmis-sion characteristics of the bowden cable transmissions between actuator and robotic joint. The prototype was used next to investigate achievable actuator performance in force-feedback control with a slave. Results are presented, which show good performance and contact stability in a 4 channel control scheme. The actuator has low movement resistance in free motion and can reflect high torques during hard contact situations with a slave.

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Active control of an ankle-foot orthosis

Дата: Ноябрь 30th, 2006 Автор:
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  • Тип контента: Патент
  • Номер документа: 4090
  • Название документа: Active control of an ankle-foot orthosis
  • Номер (DOI, IBSN, Патент): US2006/0270950A1
  • Изобретатель/автор: Dariush, B.
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2006-11-30
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://www.google.com/patents/about/7650204_Active_control_o
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

Techniques are provided for controlling a human-exoskeleton system including an ankle-foot orthosis by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates such as an orientation of the foot, and determining a joint torque for controlling the ankle-foot orthosis to compensate for one or more components of forces acting on the foot. Forces selected for compensation include gravitational forces as well as external forces such as ground reaction forces. Techniques are provided for determining an ankle joint torque for partial or complete compensation of forces acting on the foot about an axis of rotation. The provided techniques mitigate the amount of interference between voluntary control and assist control, thereby allowing humans to quickly humans adapt to an exoskeleton system.

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