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The Spring-Loaded Inverted Pendulum (SLIP), or monopedal runner, is widely used to depict running and hopping in mammalian and human locomotion, which is also serving as a template for running robot design. This classic model describes quite a simple mechanical system. Nevertheless issue of seeking the accurate analytic solution revealing the(More)
A five-fingered underactuated prosthetic hand controlled by surface electromyographic (EMG) signals is presented in this paper. The prosthetic hand control part is based on an EMG motion pattern classifier which combines Levenberg-Marquardt (LM) or variable learning rate (VLR) based neural network with parametric autoregressive (AR) model and wavelet(More)
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a(More)
Based on under-actuated mechanism and coupling principle, a five-fingered, multi-sensory and biomechatronic prosthetic hand has been designed. The multi-DOF hand comprises 13 joints and is controlled by 3 motors. Actuated by only one motor, the thumb can move along a cone surface which is superior in the appearance. Also driven by one motor and transmitted(More)
A new five-fingered underactuated prosthetic hand control system is presented in this paper. The prosthetic hand control part is based on an EMG motion pattern classifier which combines VLR (variable learning rate) based neural network with wavelet transform and sample entropy. This motion pattern classifier can successfully identify flexion and extension(More)
A novel electromyographic (EMG) motion pattern classifier which combines VLR (variable learning rate) based neural network with wavelet transform and nonlinearity analysis method is presented in this paper. This motion pattern classifier can successfully identify the flexion and extension of the thumb, the index linger and the middle finger, by measuring(More)
This paper presents a surface Electromyography (EMG) motion pattern classifier which combines Levenberg-Marquardt (LM) based neural network with parametric Autoregressive (AR) model. This motion pattern classifier can successfully identify three types of motion of thumb, index finger and middle finger, by measuring the surface EMG through two electrodes(More)
In this paper, a 6-DOF wearable upper limb exoskeleton with parallel actuated joints which perfectly mimics human motions is proposed. The upper limb exoskeleton assists the movement of physically weak people. Compared with the existing upper limb exoskeletons which are mostly designed using a serial structure with large movement space but small stiffness(More)