scholarly journals Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture

2017 ◽  
Vol 6 (3) ◽  
pp. 256-264 ◽  
Author(s):  
Riky Tri Yunardi ◽  
Aji Akbar Firdaus ◽  
Eva Inaiyah Agustin
Keyword(s):  
Motion Capture ◽  
Average Error ◽  
Servo Motor ◽  
Movement Sequence ◽  
Leg Motion ◽  
Three Degree Of Freedom ◽  
Robotic Leg ◽  
Leg Design ◽  
Is Design ◽  
Analysis Of Motion

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.

A stance period approach for simplified observation of galloping as applied to canines

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 627-633
Author(s):  
Surya P. N. Singh ◽  
Kenneth J. Waldron
Keyword(s):  
Parameter Estimation ◽  
Conceptual Framework ◽  
Motion Capture ◽  
Contact Force ◽  
Inverse Dynamics ◽  
Force Plate ◽  
Setup Times ◽  
Legged Robot ◽  
Impulse Model ◽  
Leg Motion

SUMMARYThe gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Simple models provide a conceptual framework for understanding this gait. In this light, this paper considers the footfall projections as suggested by an impulse model for galloping as a measurement simplifying strategy. Instead of concentrating on forces and inverse dynamics, this view focuses observations on leg motion (footfalls and stance periods) for subsequent gallop analysis and parameter estimation. In practice, this eases experiments (particularly for IR-based motion capture) by extending the experimental workspace, removing the need for single-leg contact force-plate measurements, and reducing the marker set. This provides shorter setup times, and it reduces postprocessing as data are less likely to suffer from occlusion, errant correspondence, and tissue flexion. This approach is tested using with three canine subjects (ranging from 8 to 24 kg) performing primarily rotary gallops down a 15 m runway. Normalized results are in keeping with insights from previous animal and legged robot studies and are consistent with motions suggested by said impulse model.

Quantifying the Accuracy of a Motion Detecting Neural Prosthesis

2020 ◽  
Author(s):  
Martin L. Tanaka ◽  
Premkumar Subbukutti ◽  
David Hudson ◽  
Kimberly Hudson ◽  
Pablo Valenzuela ◽  
...  
Keyword(s):  
Motion Capture ◽  
Gait Cycle ◽  
Neural Prosthesis ◽  
Average Error ◽  
Camera Motion ◽  
Motion Capture System ◽  
General Shape ◽  
Neural Connections ◽  
Measurement Units ◽  
The Brain

Abstract The neural prosthesis under development is designed to improve gait in people with muscle weakness. The strategy is to augment impaired or damaged neural connections between the brain and the muscles that control walking. This third-generation neural prosthesis contains triaxial inertial measurement units (IMUs - accelerometers, gyroscopes, and processing chip) to measure body segment position and force sensitive resistors placed under the feet to detect ground contact. A study was conducted to compare the accuracy of the neural prosthesis using a traditional camera motion capture system as a reference. The IMUs were found to accurately represent the amplitude of the gait cycle components and generally track the motion. However, there are some differences in phase, with the IMUs lagging the actual motion. Phase lagged by about 10 degrees in the ankle and by about 5 degrees in the knee. Error of the neural prosthesis varied over the gait cycle. The average error for the ankle, knee and hip were 6°, 8°, and 9°, respectively. Testing showed that the neural prosthesis was able to capture the general shape of the joint angle curves when compared to a commercial camera motion capture system. In the future, measures will be taken to reduce lag in the gyroscope and reduce jitter in the accelerometer so that data from both sensors can be combination to obtain more accurate readings.

Design and Development of the Cassino Biped Locomotor

2020 ◽  
Vol 12 (3) ◽  
Author(s):  
Mingfeng Wang ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Inverse Kinematics ◽  
Low Cost ◽  
Parallel Mechanisms ◽  
Operation Performance ◽  
Gait Planning ◽  
Biped Walking Robot ◽  
Structural Parts ◽  
Three Degree Of Freedom ◽  
Leg Design

Abstract In this work, the Cassino Biped Locomotor, a biped walking robot, is presented as the leg design by using reduced parallel mechanisms. The proposed biped locomotor consists of two identical tripod leg mechanisms with a three degree-of-freedom parallel manipulator architecture. Kinematics analysis is carried out in terms of the forward and inverse kinematics of one leg mechanism and inverse kinematics of the biped locomotor. The walking operation is discussed in detail with gait planning and trajectories of feet and waist. A CAD model is elaborated in solidworks® environment and the corresponding prototype is fabricated with low-cost user-oriented features by using commercial components and structural parts that are manufactured by using 3D printing. An experimental layout and corresponding test modes are illustrated for characterizing the walking operation performance. Experimental results are analyzed for an operation performance evaluation and architecture design characterization of the Cassino Biped Locomotor.

Traversability Analysis of a Novel One-DOF Robotic Leg

2013 ◽  
Author(s):  
Lionel Birglen ◽  
Carlos Ruella
Keyword(s):  
Degrees Of Freedom ◽  
Mobile Robotics ◽  
Simulation Algorithm ◽  
Novel Technique ◽  
The Past ◽  
Robotic Leg ◽  
Leg Design ◽  
First Time

In legged mobile robotics the most common approach is to design fully actuated legs with several degrees of freedom (DOF) in order to successfully navigate through rough terrains. However, simpler leg architectures with as few as one-DOF have been developed in the past to achieve the very same goal. The ability of these simpler legs to traverse uneven terrains is arguably limited with respect to multi-DOF designs, but in some applications the reduction of the DOF and hence, of the number of actuators, as well as the simplicity of the associated control could be a great advantage and the decisive argument. In this paper, the authors propose a novel one-DOF robotic leg that has been specially designed to achieve the greatest robustness possible with respect to the difficult terrains it has to traverse. In order to do that, a method to analyze and optimize any one-DOF robotic leg with respect to its ability to overcome obstacles is proposed here. This method is based on a simple and efficient novel technique to generate synthetic terrains combined with a simulation algorithm estimating the traversability of the particular one-DOF leg design under scrutiny. To illustrate the generality of the proposed method, it is used to design both an optimal leg with the architecture presented here for the first time and also, one with the most common one-DOF leg architecture found in the literature.

Study on Feature Extraction Methods Based on Motion Capture Data

2014 ◽  
Vol 926-930 ◽  
pp. 2114-2117
Author(s):  
Yong Dan Nie ◽  
Yan Zhang ◽  
Xian Mei Liu
Keyword(s):  
Feature Extraction ◽  
Motion Capture ◽  
Extraction Method ◽  
Data Retrieval ◽  
Extraction Methods ◽  
Motion Capture Data ◽  
Motion Feature ◽  
Feature Extraction Method ◽  
Motion Data ◽  
Analysis Of Motion

By the analysis of motion Geometric features and Continuing feature that the motion capture data of the BVH format showed,Motion feature extraction method was proposed in this paper to preserve the motion original features in the maximum extent and marked motion data,improved the speed of motion data retrieval,and also provided a new method for rendering of motion characters in the virtual environment.

Design of a Cam-Actuated Robotic Leg

2014 ◽  
Author(s):  
Diane L. Peters ◽  
Steven Chen
Keyword(s):  
Optimization Problem ◽  
Angular Displacement ◽  
Design Parameters ◽  
Single Degree Of Freedom ◽  
Advantages And Disadvantages ◽  
Single Degree ◽  
Error Metric ◽  
Robotic Leg ◽  
Foot Position ◽  
Leg Design

This paper presents a concept for a single-degree-of-freedom robotic leg, where the lower and upper leg are each controlled by a cam. The two cams are mounted on a common shaft, and are rotating at the same speed. The relevant equations for the mechanism’s kinematics are first developed, to express the position of the foot in terms of the cam’s angular displacement and various design parameters such as link lengths. Next, the design problem is formulated as an optimization, where the objective is to minimize an error metric that compares the foot position to the desired trajectory of the foot. The constraints in the optimization problem include important parameters such as the pressure angle of the cams, as well as a set of constraints to ensure that the leg will fit on an appropriately sized legged robot. Finally, the results are discussed, with a focus on what the advantages and disadvantages of this leg design might be as compared to other types of robotic leg designs.

Sign in / Sign up

Export Citation Format

Share Document