A Prototype for Smart Prosthetic Legs-Analysis and Mechanical Design

2011 ◽  
Vol 403-408 ◽  
pp. 1999-2006 ◽  
Author(s):  
Ming Liu ◽  
Philip Datseris ◽  
He Helen Huang
Keyword(s):  
Optimal Control ◽  
Dynamic Model ◽  
Mechanical Design ◽  
Knee Prosthesis ◽  
Control Parameters ◽  
Transmission Systems ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Single Motor ◽  
Model Based

In this paper, we designed a prototype of powered above-knee prosthesis. Compared with other prototypes available in the literature, our designed prosthetic leg employs a redundant actuator concept to overcome the challenge faced by the single-motor transmission systems. The redundant actuator also enables the prosthesis to be partially functional when the prosthesis loses power. Finally, in order to provide optimal control parameters for designed above-knee prosthesis to perform a smooth level-ground walking task, an inverse dynamic model based on Kane’s method is constructed.

Mechanical Design and Performance Analysis of a Novel Parallel Robot for Ankle Rehabilitation

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Jianfeng Li ◽  
Shiping Zuo ◽  
Leiyu Zhang ◽  
Mingjie Dong ◽  
Zikang Zhang ◽  
...  
Keyword(s):  
Performance Analysis ◽  
Dynamic Model ◽  
Mechanical Design ◽  
Parallel Robot ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Transfer Ratio ◽  
Force Transfer ◽  
Ankle Rehabilitation ◽  
Dynamic Performance Analysis

Abstract As the population ages, increasingly more individuals experience ankle disabilities caused by stroke and cerebral palsy. Studies on parallel robots for ankle rehabilitation have been conducted under this circumstance. This paper presents a novel parallel ankle rehabilitation robot with the key features of a simple configuration and actuator nonredundancy. The mechanical design is determined, and a prototype is built. Additionally, inverse position solution is addressed to calculate the workspace of the parallel robot. Jacobian matrices mapping the velocity and force from the active joint space to the task space are derived, and kinetostatic performance indices, namely, motion isotropy, force transfer ratio, and force isotropic radius are defined. Moreover, the inverse dynamic model is presented using the Newton–Euler formulation. Dynamic evaluation index, i.e., dynamic uniformity, is proposed according to the derived Jacobian matrix and inertia matrix. Based on the workspace analysis, the parallel robot demonstrates a sufficient workspace for ankle rehabilitation compared with measured range of motion of human ankle joint complex. The results of the kinetostatic and dynamic performance analysis indicate that the parallel robot possesses good motion isotropy, high force transfer ratio, large force isotropic radius, and relatively uniform dynamic dexterity within most of the workspace, especially in the central part. A numerical example is presented to simulate the rehabilitation process and verify the correctness of the inverse dynamic model. The simplicity and the performance of the proposed robot indicate that it has the potential to be widely used for ankle rehabilitation.

scholarly journals Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016 ◽  
Vol 7 (1) ◽  
pp. 9-17 ◽  
Author(s):  
M. Díaz-Rodríguez ◽  
J. A. Carretero ◽  
R. Bautista-Quintero
Keyword(s):  
Optimal Design ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Computational Cost ◽  
Parallel Manipulators ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Kinematic Chains ◽  
Model Based

Abstract. Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identification, model based control and even actuation redundancy approaches. In this context, by revisiting some of the current computationally-efficient solutions for obtaining the inverse dynamic model of parallel manipulators, this paper compares three different methods for inverse dynamic modelling of a general, lower mobility, 3-PRS parallel manipulator. The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains. Then, vector-loop closure constraints are introduced for obtaining the relationship between the dynamics of the open kinematic chains (such as a serial robot) and the closed chains (such as a parallel robot). The second method exploits certain characteristics of parallel manipulators such that the platform and the links are considered as independent subsystems. The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity. Analysis of these numerical formulations will provide fundamental software support for efficient model-based designs. In addition, computational cost reduction presented in this paper can also be an effective guideline for optimal design of this type of manipulator and for real-time embedded control.

Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

2010 ◽  
Vol 63 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Peter Paul Pott ◽  
Achim Wagner ◽  
Essameddin Badreddin ◽  
Hans-Peter Weiser ◽  
Markus L. R. Schwarz
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Control Application ◽  
Hybrid Kinematics

scholarly journals A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1849
Author(s):  
Jianbo Liu ◽  
Rongqiang Guan ◽  
Yongming Yao ◽  
Hui Wang ◽  
Linqiang Hu
Keyword(s):  
Dynamic Model ◽  
Flight Control ◽  
Virtual Work ◽  
Influence Factors ◽  
Parallel Manipulators ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Helicopter Flight

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.

scholarly journals A Reevaluation of the Inverse Dynamic Model for Eye Movements

2007 ◽  
Vol 27 (6) ◽  
pp. 1346-1355 ◽  
Author(s):  
A. M. Green ◽  
H. Meng ◽  
D. E. Angelaki
Keyword(s):  
Eye Movements ◽  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model

Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits

2013 ◽  
Vol 228 (9) ◽  
pp. 1501-1511 ◽  
Author(s):  
Dalei Pan ◽  
Feng Gao ◽  
Yunjie Miao
Keyword(s):  
Lower Extremity ◽  
Dynamic Model ◽  
Control Law ◽  
Hydraulic Actuator ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Level Walking ◽  
Performance Analyses ◽  
Heavy Loads ◽  
Dynamic Research

This article proposes a novel type of series-parallel lower extremity exoskeleton driven by hydraulic actuators. Each leg of the exoskeleton has six DOFs, which can walk like human and carry heavy loads. A mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Based on Kane's method, the inverse dynamic model of the exoskeleton was conducted. Finally, the exoskeleton humanoid gaits of level walking, ascent, descent, level walking with different loads and speed were simulated, and the required driving torques and power were obtained. These performance analyses provide a basis to the design of the control law and the estimation of the hydraulic actuator parameters for the exoskeleton.

Sign in / Sign up

Export Citation Format

Share Document