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In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system.(More)
This paper describes the compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots. The torque generated can only be measured by placing torque sensor on each joint, which makes the joint bulky and heavy, adding extra load to be carried by robot. In this paper we proposed a compact and light weight(More)
Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess motor function and generate the command for the robots to act accordingly with complex human structure. In this paper, we present a new technique for the upper(More)
With the higher demands of speed and accuracy for automatic mechanism, the diversified parameters and kinematics issues have been paid much more attention in the field of cam research. This paper introduced a special cam-based intermittent linkage mechanism that would produce an ideal application in high speed motion. On the basis of analyzed and compared(More)
This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible(More)
In this paper, a different way to find the trajectory of the robot manipulators for energy optimization is presented. In our method, the joint angles of the manipulator are set as quadratic polynomial functions. Then, with them taken into the variational function of energy consumption, Finite Element Modelling is employed to optimize the unknown parameters(More)
This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF for the ankle joints. Through functional analysis of each(More)