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This paper is about a novel type mono-pedal robot with a bi-articular spring and a mono-articular electric motor. The mechanism is designed based on the concept of the mono-bi configuration, which effectively reduces the number of actuators and consequently the cost, keeping the advantages of bi-articular actuators such as high compliance, stability,(More)
This paper presents a novel estimation method for extracting the activation rate of the human leg muscles using the recursive least squares algorithm. It is shown that the output force of each leg muscle group can be simply estimated from the reconstructed real measurement data. The estimation result turned out to be fairly comparable to those from(More)
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