Mechanism and Control of Powered Prosthesis with Bi-articular Muscle-Type Hydraulic Bilateral Servo Actuator

2020 ◽  
pp. 84-91
Author(s):  
Takanori Higashihara ◽  
Toru Oshima ◽  
Takumi Tamamoto ◽  
Kengo Ohnishi ◽  
Ken’ichi Koyanagi ◽  
...  
Keyword(s):  
Muscle Type ◽  
Servo Actuator ◽  
Powered Prosthesis ◽  
And Control

Micro SCARA Robot for Miniature Parts Assembling

1997 ◽  
Vol 9 (5) ◽  
pp. 341-347
Author(s):  
Toyomi Miyagawa ◽  
◽  
Kohei Hori ◽  
Yukihisa Hasegawa ◽  
Koichi Suzumori ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Small Diameter ◽  
Reduction Gear ◽  
Optical Encoder ◽  
Scara Robot ◽  
Brushless Dc ◽  
Inspection Robot ◽  
Servo Actuator ◽  
Output Characteristics ◽  
And Control

In this report, application of newly developed ultra-small servo actuators to a micro SCARA robot is presented. An ultra-small servo actuator consists of a miniature brushless DC motor, a reduction gear, and an optical encoder for monitoring the rotation of the motor. Two prototypes of different sizes were developed: one is 3mm in diameter and 10mm in length, and the other is 5mm in diameter and 18mm in length. Including the vertical positioning of the hand the robot has three degrees of freedom. First, the structure of the ultra-small servo actuator is shown and then the output characteristics of the 3mmdiameter and the 5mm diameter servo actuators are described, respectively. Next, the structure and control system of the micro SCARA robot, which has a 24.5mmlong arm, are described. Finally, flexible micro actuators, combined in parallel and acting a miniature handling system, are reported. They enable the gentle handling of small, fragile objects. The prototype of this micro SCARA robot enables the assembly of miniature objects in a small space. In the future, we expect this robot to find application as an inspection robot in narrow spaces, such as in small-diameter pipelines.

Dynamic Modeling and Control of a Piezo-Electric Dual-Stage Tape Servo Actuator

2009 ◽  
Vol 45 (7) ◽  
pp. 3017-3024 ◽  
Author(s):  
U. Boettcher ◽  
B. Raeymaekers ◽  
R.A. de Callafon ◽  
F.E. Talke
Keyword(s):  
Dynamic Modeling ◽  
Modeling And Control ◽  
Servo Actuator ◽  
Dual Stage ◽  
And Control ◽  
Piezo Electric

Design and control of dual servo actuator for near field optical recording system

2005 ◽  
Author(s):  
Jaehwa Jeong ◽  
Young-Man Choi ◽  
Jun-Hee Lee ◽  
Hyoung-Kil Yoon ◽  
Dae-Gab Gweon
Keyword(s):  
Near Field ◽  
Optical Recording ◽  
Recording System ◽  
Servo Actuator ◽  
And Control

New Pneumatic Cylinders for Improving Servo Actuator Positioning Accuracy

2004 ◽  
Vol 126 (4) ◽  
pp. 744-747 ◽  
Author(s):  
Igor L. Krivts
Keyword(s):  
Control System ◽  
Friction Force ◽  
Pneumatic Cylinder ◽  
Experimental Examination ◽  
Positioning Accuracy ◽  
Servo Actuator ◽  
And Control ◽  
Improved Accuracy ◽  
Accuracy Performance ◽  
Pneumatic Cylinders

Positioning accuracy of pneumatic servo actuators depends on parameters of the actuator and control system, and also on the friction force. This paper reports on new constructions of the pneumatic cylinders, which are the integral part of the servo actuator. Experimental examination of these servo actuators has shown that they could provide improved accuracy performance over the system with ordinary pneumatic cylinder.

ADVANCES REGARDING POWERED PROSTHESIS FOR TRANSTIBIAL AMPUTATION

2015 ◽  
Vol 15 (01) ◽  
pp. 1530001 ◽  
Author(s):  
ROBERT LEMOYNE
Keyword(s):  
Energy Storage ◽  
State Of The Art ◽  
Plantar Flexion ◽  
Compensatory Mechanisms ◽  
Transtibial Amputation ◽  
Test And Evaluation ◽  
Force Depression ◽  
Current State ◽  
Powered Prosthesis ◽  
And Control

The necessity for developing advanced prostheses are apparent in light of projections that the forecast for the number of people enduring amputation will double by the year 2050. The transtibial powered prosthesis that enables positive mechanical work about the ankle during the powered plantar flexion aspect of stance phase constitutes a paradigm shift in available transtibial prostheses. The objective of the review is to advocate the state of the art regarding the transtibial powered prosthesis. The historic origins of the prosthesis and motivations for amputation are clarified. The phases of gait and the compensatory mechanisms and asymmetries inherent with passive transtibial prostheses are described. The three general classes of transtibial prosthesis (passive, energy storage and return and powered prostheses) are defined. Subsystems that are integral to the powered prosthesis are explained, such as the series elastic actuator and control architecture. Gait analysis systems and their role for the test and evaluation of energy storage and return and powered prostheses are demonstrated. Future advanced concepts; such as the integration of titin into novel muscle models that account for force enhancement and force depression including their implications for cutting edge bio-inspired actuators are elucidated. The review accounts for the evolution of the prosthetic device with regards to the scope of transtibial amputation and assesses the current state-of-the-art.

Control of Metal Alloy Oxidation with Electric Fields

1973 ◽  
Vol 31 ◽  
pp. 164-165
Author(s):  
R. R. Dils ◽  
P. S. Follansbee
Keyword(s):  
Electric Fields ◽  
Oxidation Process ◽  
Base Alloy ◽  
Oxide Surface ◽  
Platinum Electrodes ◽  
Insulating Layer ◽  
Iron Base Alloy ◽  
Alloy Oxidation ◽  
Aluminum Oxide Layer ◽  
And Control

Electric fields have been applied across oxides growing on a high temperature alloy and control of the oxidation of the material has been demonstrated. At present, three-fold increases in the oxidation rate have been measured in accelerating fields and the oxidation process has been completely stopped in a retarding field.The experiments have been conducted with an iron-base alloy, Pe 25Cr 5A1 0.1Y, although, in principle, any alloy capable of forming an adherent aluminum oxide layer during oxidation can be used. A specimen is polished and oxidized to produce a thin, uniform insulating layer on one surface. Three platinum electrodes are sputtered on the oxide surface and the specimen is reoxidized.

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