scholarly journals Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation

2011 ◽  
Vol 6 (3) ◽  
pp. 284-291 ◽  
Author(s):  
Dong-Hwan Shin ◽  
Jin-Ung An ◽  
Jeon-Il Moon
2021 ◽  
Vol 12 (2) ◽  
pp. 29
Author(s):  
Risha Rufaqua ◽  
Martin Vrbka ◽  
Dušan Hemzal ◽  
Dipankar Choudhury ◽  
David Rebenda ◽  
...  

To understand the possible lubricant mechanism in ceramic-on-ceramic hip joint prostheses, biochemical reactions of the synovial fluid and the corresponding frictional coefficients were studied. The experiments were performed in a hip joint simulator using the ball-on-cup configuration with balls and cups made from two types of ceramics, BIOLOX®forte and BIOLOX®delta. Different lubricants, namely albumin, γ-globulin, hyaluronic acid and three model synovial fluids, were studied in the experiments and Raman spectroscopy was used to analyze the biochemical responses of these lubricants at the interface. BIOLOX®delta surface was found less reactive to proteins and model fluid lubricants. In contrast, BIOLOX®forte ball surface has shown chemisorption with both proteins, hyaluronic acid and model fluids imitating total joint replacement and osteoarthritic joint. There was no direct correlation between the measured frictional coefficient and the observed chemical reactions. In summary, the study reveals chemistry of lubricant film formation on ceramic hip implant surfaces with various model synovial fluids and their components.


2008 ◽  
Vol 20 (5) ◽  
pp. 785-792 ◽  
Author(s):  
Kazunori Kaede ◽  
◽  
Tooru Nogai ◽  

We selected a three-legged robot to study passive walking. The robot consists of one actuated leg and one pair of passive legs. The active leg has a knee joint and an ankle joint. The passive legs, which we call “crutches,” have no knee joints, but it do have passive ankle joints. The crutches and the leg are connected by a hip joint. The robot behavior is passive while it supports itself on its crutches and swings its leg. In order for the robot to have a wide stride and be stable after the leg swings out and lands, a referenced trajectory of the leg's swing is generated by a planar, four-link model simulation to evaluate its posture after the leg lands. The pattern of walking applies to the robot's actual walk on level ground. An additional walking robot that has a knee joint that is permitted to rotate freely has been designed. The lower leg is equipped with a solenoid magnet which keeps the knee joint straight. The knee joint bends and the leg swings in response to a change in the input torque to the hip joint.


2015 ◽  
Vol 27 (1) ◽  
pp. 32-40 ◽  
Author(s):  
Xianglong Wan ◽  
◽  
Takateru Urakubo ◽  
Yukio Tada

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/04.jpg"" width=""300"" />Optimal motion of a legged robot</div> This paper deals with an optimal landing motion of a four-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the impact force and the joint torques. The configuration of the robot that is close to a singular configuration is advantageous in minimizing the joint torques for a heavy torso, while the configuration where the leg is bent is advantageous in reducing the impact force. This is shown by numerical optimization results with different weights for the cost function and a theoretical analysis of a simplified model of the robot. </span>


1999 ◽  
Vol 12 (04) ◽  
pp. 173-177 ◽  
Author(s):  
R. L. Aper ◽  
M. D. Brown ◽  
M. G. Conzemius

SummaryTreatment of canine hip dysplasia (CHD) via triple pelvic osteotomy (TPO) is widely accepted as the treatment that best preserves the existing hip joint. TPO, however, has several important disadvantages. In an effort to avoid some of the difficulties associated with TPO an alternative method of creating acetabular ventroversion (AW) was sought. The purpose of this study was to explore the effects of placement of a wedge in the sacroiliac (SI) joint on A W and to compare this to the effect of TPO on A W . On one hemipelvis a 30° pelvic osteotomy plate was used for TPO. The contralateral hemipelvis had a 28° SI wedge inserted into the SI joint. Pre- and postsurgical radiographs of each pelvis were taken and the angular measurements were recorded. On average, the 28° SI wedge resulted in 20.9° of A W, the 30° canine pelvic osteotomy plate resulted in 24.9° A W . Significant differences were not found (p >0.05) between the two techniques. Sacroiliac wedge rotation effectively creates A W and has several theoretical advantages when compared to TPO. The in vivo effects of sacroiliac wedge rotation should be studied in order to evaluate the clinical effect of the technique.Sacroiliac wedge rotation was tested as an alternative method to increase the angle of acetabular ventroversion. This technique effectively rotated the acetabulum and has several theoretical advantages when compared to triple pelvic osteotomy.


2013 ◽  
Vol 133 (3) ◽  
pp. 663-671
Author(s):  
Hiroshi Hirata ◽  
Yorinao Mizushima ◽  
Shigeto Ouchi ◽  
Nariyuki Kodani

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