A high-power electrostatic actuator comprising rotor and stator layers with fault-tolerant electrode structures, a housing to contain the electrodes and dielectric fluid, and electronic circuitry driving a plurality of high-voltage phases. The actuator is constructed from multiple rotor and stator films separated by spacing elements. The electrode structure provides self-alignment for precise assembly. The actuator assembly includes built-in fine-position sensors to allow optimal timing in powering phases, and a coarse position sensor for feedback control. The electrode structure has a large region of linear force to provide low torque-ripple allowing simple high/low voltage pulsing instead of analog high voltage waveforms. Single or double sided flexible circuit manufacturing techniques are used to fabricate the rotor and stator films at low cost.

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This paper is focused on the use of Zero Moment Point (ZMP) concept for balancing control of the Asian Institute of Technology Leg EXoskeleton-I (ALEX-I). ALEX-I has been developed to assist patients who suffer from paraplegia or immobility due to the loss of power on lower limbs. The balanced posture set-points (joint trajectories) under ZMP criterion are generated offline. The ZMP based set points are provided as the desired postures to ALEX-I. Fuzzy Logic Controller (FLC) determines the modified set points based on postures balancing sensed by loadcells. Ground Contact Point (GCP) is used to find the “ZMP-like in real time”. GCP data is obtained by placing 4 loadcells forming a force plate on each foot of ALEX-I. This GCP data is then compared with the reference ZMP. Uncertainties of the model parameters, backlash, and joint tolerance are considered as disturbance. The differences of ZMP and GCP on x-z plane are used as the inputs to the FLC. The 4 outputs from FLC are the compensated angles of left and right ankles joints in roll and pitch axes that make the actual ZMP locate in the convex hull of the supporting area.

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Mechanized exoskeletons are a relatively new techno-logy being developed that combines human intellect and machine power achieving higher performance than ei-ther could produce alone. A large government backing from the military allows this technology to improve. Our research entails the current state of mechanized exoskeletons and the futures of these suits already in the experimental stages. The paper incorporates the mechanical aspects of the current generations of me-chanized exoskeletons and the future advancements in this field. The feat of engineering a power source ne-eds addressing along with the mechanical aspects of the machine. Further investigation details the system of sensors and processors integrated with the moving mechanical parts that allow the exoskeleton to func-tion with the body flawlessly. This breakthrough technology promises better performance, general well being, and overall efficiency for soldiers. The employment of the mechanized exoskeleton is no longer just a dream but is now a reality that has limitless possibilities.

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(EN)[PROBLEMS] To save energy consumption at the time of using a turning apparatus and to suppress wear and damages of the turning apparatus and a driving apparatus which drives the turning apparatus. [MEANS FOR SOLVING PROBLEMS] A turn adjusting apparatus (1) is provided with a turning apparatus (10), which has a plurality of members connected through a plurality of turning shafts and permits one member to turn relatively to other members, with the turning shaft at the center. The turn adjusting apparatus is also provided with turn suppressing means (30, 72) which suppress at least one of turning movements of the turning apparatus.
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The present invention describes, generally, a method and system for controlling the dynamics of an actuatable load functioning or operable within a servo or servo-type system, wherein the dynamics of the load are controlled by way of a unique pressure control valve configured to provide intrinsic pressure regulation. The pressure control valve, which may be referred to as a dynamic pressure regulator because of its capabilities, utilizes dual spools that are physically independent of one another and freely supported in the valve body to regulate the pressures acting within the overall system between the control or pilot pressure and the load or load pressure. The dual spools of the pressure control valve, although physically independent of one another, function in cooperation with one another in an attempt to maintain a state of equilibrium in the system, namely to keep pressure acting on or within the actuator (the load pressure), or the feedback force corresponding to the load pressure, the same as the control or pilot pressure. Moreover, pressure regulation and control is intrinsic to the pressure control valve because of the configuration and function of the dual spools and the mechanical feedback system acting on the spools, thus eliminating the need for electronically or mechanically user controlled systems.

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