Study on optimal design for two DOF parallel ankle joint mechanism of a biped robot

2008 ◽  
Author(s):  
Liquan Wang ◽  
Zhiwei Yu ◽  
Hengnan Li
Keyword(s):  
Optimal Design ◽  
Ankle Joint ◽  
Biped Robot ◽  
Joint Mechanism

Push recovery control for the underactuated lower extremity exoskeleton based on improved capture point concept

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jiaqi Zhang ◽  
Ming Cong ◽  
Dong Liu ◽  
Yu Du ◽  
Hongjiang Ma
Keyword(s):  
Lower Extremity ◽  
Ankle Joint ◽  
Lower Limb ◽  
Biped Robot ◽  
Lower Limbs ◽  
Simple Method ◽  
Content Type ◽  
Torsion Spring ◽  
Balance Ability ◽  
Capture Point

Purpose The purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the problem that biped robot stability criterion cannot be fully applied to the underactuated lower limb exoskeletons. Design/methodology/approach The method used in this paper is to construct an underactuated lower extremity exoskeleton ankle joint with a torsion spring. Based on the constructed exoskeleton, the linear inverted torsion spring pendulum model is proposed, and the traditional capture point (CP) concept is optimized. Findings The underactuated exoskeleton ankle joint with torsion springs, combined with the improved CP concept, can effectively reduce the forward stepping distance under the same interference condition, which is equivalent to enhancing the balance ability of the lower extremity exoskeleton. Originality/value The contribution of this paper is to enhance the balance ability of the exoskeleton of the lower limbs under large interference conditions. The torsion spring is used as the exoskeleton ankle joint, and the traditional CP concept is optimized according to the constructed exoskeleton.

scholarly journals Kinematical modeling and optimal design of a biped robot joint parallel linkage

2006 ◽  
Vol 28 (4) ◽  
pp. 505-511 ◽  
Author(s):  
Luciano L. Menegaldo ◽  
Rogerio Eduardo S. Santana ◽  
Agenor de Toledo Fleury
Keyword(s):  
Optimal Design ◽  
Biped Robot

scholarly journals Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot

2021 ◽  
Vol 8 ◽  
Author(s):  
Qiaoli Ji ◽  
Zhihui Qian ◽  
Lei Ren ◽  
Luquan Ren
Keyword(s):  
Ankle Joint ◽  
Gait Cycle ◽  
Walking Speed ◽  
Simulation Analysis ◽  
Center Of Mass ◽  
Biped Robot ◽  
Maximum Speed ◽  
Motion Patterns ◽  
Fluctuation Amplitude ◽  
Instantaneous Speed

Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground (the height of the ankle joint of the swing leg) and the ankle push-off torque increases from 17 to 20.8 N·m, the duration of the swinging leg actually decreases from 50 to 30% of the gait cycle, the fluctuation amplitude of the COM (center of mass) instantaneous speed of the robot decreases from 95 to 35% of the maximum speed, and the walking speed increases from 0.51 to 1.14 m/s. The results demonstrate that impulsive ankle push-off can effectively increase the walking speed of the planar biped robot by accelerating the swing leg and reducing the fluctuation of the COM instantaneous speed. Finally, a comparison of the joint kinematics of the simulation robot and the human at a normal walking speed shows similar motion patterns.

Dynamic Analysis of an Exoskeleton New Ankle Joint Mechanism

2014 ◽  
pp. 709-717 ◽  
Author(s):  
N. Dumitru ◽  
C. Copilusi ◽  
I. Geonea ◽  
D. Tarnita ◽  
I. Dumitrache
Keyword(s):  
Dynamic Analysis ◽  
Ankle Joint ◽  
Joint Mechanism
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