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https://www.readbyqxmd.com/read/28820446/towards-scalable-strain-gauge-based-joint-torque-sensors
#1
Hamza Khan, Mariapaola D'Imperio, Ferdinando Cannella, Darwin G Caldwell, Alfred Cuschieri, Claudio Semini
During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the gluing and wiring of strain gauges used as torque sensors pose difficulties during integration within the restricted space available in small joints. The problem is compounded by the need for a scalable geometric design to measure joint torque. In this communication, we describe a novel design of a strain gauge-based mono-axial torque sensor referred to as square-cut torque sensor (SCTS), the significant features of which are high degree of linearity, symmetry, and high scalability in terms of both size and measuring range...
August 18, 2017: Sensors
https://www.readbyqxmd.com/read/28820263/hydrodynamic-steering-in-protein-association-revisited-surprisingly-minuscule-effects-of-considerable-torques
#2
Jan Marek Antosiewicz, Kamil Kamiński, Maciej Dlugosz
We investigate the previously postulated hydrodynamic steering phenomenon, resulting from complication of molecular shapes, its magnitude and possible relevance for protein-ligand and protein-protein diffusional encounters, and the kinetics of diffusion-controlled association. We consider effects of hydrodynamic interactions in a prototypical model system consisting of a cleft enzyme and an elongated substrate, and real protein-protein complexes, that of barnase and barstar, and human growth hormone and its binding protein...
August 18, 2017: Journal of Physical Chemistry. B
https://www.readbyqxmd.com/read/28820239/capping-layer-cl-induced-anti-damping-in-cl-py-%C3%AE-w-system-cl-al-%C3%AE-ta-cu-%C3%AE-w
#3
Nilamani Behera, Puspendu Guha, Dinesh K Pandya, Sujeet Chaudhary
For achieving ultrafast switching speed and minimizing dissipation losses, the spin-based data storage device requires a control on effective damping (αeff) of nanomagnetic bits. Incorporation of interfacial anti-damping spin orbit torque (SOT) in spintronic devices therefore has high prospects in enhancing their performance efficiency. Clear evidence of such an interfacial anti-damping is found in Al capped Py(15 nm)/β-W(tW)/Si (Py=Ni81Fe19 and tW = thickness of β-W), which is in contrast to the increase of αeff (i...
August 18, 2017: ACS Applied Materials & Interfaces
https://www.readbyqxmd.com/read/28814765/electric-field-induced-alignment-of-electrically-neutral-disk-like-particles-modelling-and-calculation
#4
Rongshan Qin
This work reveals a torque from electric field to electrically neutral flakes that are suspended in a higher electrical conductive matrix. The torque tends to rotate the particles toward an orientation with its long axis parallel to the electric current flow. The alignment enables the anisotropic properties of tiny particles to integrate together and generate desirable macroscale anisotropic properties. The torque was obtained from thermodynamic calculation of electric current free energy at various microstructure configurations...
August 16, 2017: Scientific Reports
https://www.readbyqxmd.com/read/28814059/biomot-exoskeleton-towards-a-smart-wearable-robot-for-symbiotic-human-robot-interaction
#5
Tomislav Bacek, Marta Moltedo, Kevin Langlois, Guillermo Asin Prieto, Maria Carmen Sanchez-Villamanan, Jose Gonzalez-Vargas, Bram Vanderborght, Dirk Lefeber, Juan C Moreno
This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814056/design-of-a-lightweight-tethered-torque-controlled-knee-exoskeleton
#6
Kirby Ann Witte, Andreas M Fatschel, Steven H Collins
Lower-limb exoskeletons show promise for improving gait rehabilitation for those with chronic gait abnormalities due to injury, stroke or other illness. We designed and built a tethered knee exoskeleton with a strong lightweight frame and comfortable, four-point contact with the leg. The device is structurally compliant in select directions, instrumented to measure joint angle and applied torque, and is lightweight (0.76 kg). The exoskeleton is actuated by two off-board motors. Closed loop torque control is achieved using classical proportional feedback control with damping injection in conjunction with iterative learning...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814048/a-mechanism-for-elbow-exoskeleton-for-customised-training
#7
Soumya K Manna, Venketesh N Dubey
It is well proven that repetitive extensive training consisting of active and passive therapy is effective for patients suffering from neuromuscular deficits. The level of difficulty in rehabilitation should be increased with time to improve the neurological muscle functions. A portable elbow exoskeleton has been designed that will meet these requirements and potentially offers superior outcomes than human-assisted training. The proposed exoskeleton can provide both active and passive rehabilitation in a single structure without changing its configuration...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814046/adaptive-control-of-an-actuated-ankle-foot-orthosis
#8
Victor Arnez-Paniagua, Hala Rifai, Yacine Amirat, Samer Mohammed
This paper deals with the control of an active ankle foot orthosis (AAFO) to assist the gait of paretic patients. The AAFO system is driven by both, the residual human torque delivered by the muscles spanning the ankle joint and the AAFO's actuator's torque. A projection-based model reference adaptive control is proposed to assist dorsiflexion and plantar-flexion of the ankle joint during daily living walking activities. Unlike most classical model-based controllers, the proposed one does not require any prior estimation of the system's (foot-AAFO) parameters...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814036/prosthetic-design-directives-low-cost-hands-within-reach
#9
G K Jones, A Rosendo, R Stopforth
Although three million people around the world suffer from the lack of one or both upper limbs 80% of this number is located within developing countries. While prosthetic prices soar with technology 3D printing and low cost electronics present a sensible solution for those that cannot afford expensive prosthetics. The electronic and control design of a low-cost prosthetic hand, the Touch Hand II, is discussed. This paper shows that sensorless techniques can be used to reduce design complexities, costs, and provide easier access to the electronics...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814026/design-and-characterization-of-low-cost-fabric-based-flat-pneumatic-actuators-for-soft-assistive-glove-application
#10
Hong Kai Yap, Frederick Sebastian, Christopher Wiedeman, Chen-Hua Yeow
We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies the manufacturing process and allows the actuators to be more compact. The actuators achieve bi-directional flexion and extension motions...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814014/bio-inspired-control-of-joint-torque-and-knee-stiffness-in-a-robotic-lower-limb-exoskeleton-using-a-central-pattern-generator
#11
Stefan O Sobrade, Yannik Nager, Amy R Wu, Roger Gassert, Auke Ijspeert
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 typically do not allow for a dynamic adaptation to the environment, as they are often controlled with predefined reference trajectories. Inspired by human leg stiffness modulation during walking, variable stiffness actuators increase flexibility without the need for more complex controllers...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814008/self-aligning-exoskeleton-hip-joint-kinematic-design-with-five-revolute-three-prismatic-and-one-ball-joint
#12
Jonas Beil, Charlotte Marquardt, Tamim Asfour
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 and even dangerous for the human. In this paper we present a kinematically compatible design of an exoskeleton hip to reduce kinematic incompatibilities, so called macro- and micro-misalignments, between the human's and exoskeleton's joint axes, which are caused by inter-subject variability and articulation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814004/biomimetic-finger-extension-mechanism-for-soft-wearable-hand-rehabilitation-devices
#13
Dong Hyun Kim, Si-Hwan Heo, Hyung-Soon Park
For the rehabilitation and assistance of the hand functions, wearable devices have been developed, and the interest in tendon driven mechanisms have especially increased since it allows light weight and compact design. The tendon driven hand rehabilitation devices provides grasping force via exo-tendons routed on the dorsal and palmar sides of the hand pulled by remotely located actuators. However, most of the devices were not able to provide natural joint extension sequence of the finger and showed hyperextension of finger joints because the tendons for extension were fixed at the fingertip, concentrating the torque at the distal interphalangeal joint...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813995/a-novel-human-effort-estimation-method-for-knee-assistive-exoskeletons
#14
Lorenzo Saccares, Anais Brygo, Ioannis Sarakoglou, Nikos G Tsagarakis
In this work we present a novel method to estimate online the torques at the knee joints with the goal to generate reference signals for knee assistive devices. One of the main advantages of the proposed approach is its reduced sensing requirements, which leads to an ergonomic setup with minimal instrumentation, especially above the knee and of the upper body. Indeed, only the measurement of the forces and torques exchanged between the ground and the user's feet, the posture of the shanks, and the model of the user's shank itself are needed for the estimation of the knee torque...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813972/novel-ankle-orthosis-with-elastomer-embedded-flexible-joint
#15
Takehito Kikuchi, Kohei Ishiya, Isao Abe, Sosuke Tanida, Takashi Yasuda
In this study, we propose a new ankle orthosis with elastomer-embedded flexible joints (EEFJ), composed of C-shaped springs and 3D-printed circular elastomer. This orthosis was designed to reduce burden on the tibialis anterior muscle (TA) and to achieve clearance between the tip of the toe and the ground. Fabrication method, strength testing, and gait analysis were conducted. According to the results of strength testing, the combination of the C-spring with 0.3 mm and 0.5 mm thickness and the elastomer with 30% and 60% filling density performs a supporting torque of 0...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813938/online-sparse-gaussian-process-based-human-motion-intent-learning-for-an-electrically-actuated-lower-extremity-exoskeleton
#16
Yi Long, Zhi-Jiang Du, Chao-Feng Chen, Wei Dong, Wei-Dong Wang
The most important step for lower extremity exoskeleton is to infer human motion intent (HMI), which contributes to achieve human exoskeleton collaboration. Since the user is in the control loop, the relationship between human robot interaction (HRI) information and HMI is nonlinear and complicated, which is difficult to be modeled by using mathematical approaches. The nonlinear approximation can be learned by using machine learning approaches. Gaussian Process (GP) regression is suitable for high-dimensional and small-sample nonlinear regression problems...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813923/a-real-time-and-reduced-complexity-approach-to-the-detection-and-monitoring-of-static-joint-overloading-in-humans
#17
Wansoo Kim, Jinoh Lee, Nikos Tsagarakis, Arash Ajoudani
This paper proposes a novel technique for the real-time estimation of the joint torques variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculated from the difference between the estimated values (assuming no interaction forces) using a pre-identified statically equivalent serial chain (SESC) and the measured ones (with the effect of interaction forces) using an external device...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813913/emu-a-transparent-3d-robotic-manipulandum-for-upper-limb-rehabilitation
#18
Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels
This paper introduces the EMU, a three-dimensional robotic manipulandum for rehabilitation of the upper extremity for patients with neurological injury. The device has been designed to be highly transparent, have a large workspace, and allow the use of the hand for interaction with real-world objects to provide additional contextual cues during exercises. The transparency is achieved through the use of a capstan transmission for the drive joints; a hybrid serial parallel kinematics minimising moving inertia; and lightweight materials...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813910/reference-path-generation-for-upper-arm-exoskeletons-considering-scapulohumeral-rhythms
#19
Rana Soltani-Zarrin, Amin Zeiaee, Reza Langari, Nina Robson
This paper proposes a reference path generation method for upper-limb rehabilitation exoskeletons considering the scapulohumeral rhythms of the shoulder. The developed method is based on Central Nervous System's (CNS) governing rules for coordination of arm motions, and to the best of our knowledge is the first computational model to consider the motion of the inner shoulder in path generation. Existing reference generation methods which utilize computational models such as minimum jerk, minimum torque, etc, are based on the assumption that the shoulder joint does not move, and the origin of the reference frame is defined at the center of the glenohumeral (GH) joint...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813905/design-and-characterization-of-the-openwrist-a-robotic-wrist-exoskeleton-for-coordinated-hand-wrist-rehabilitation
#20
Evan Pezent, Chad G Rose, Ashish D Deshpande, Marcia K O'Malley
Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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