首页|Recent Research from Peking University Highlight Findings in Robotics (Bioinspir ed Cable-driven Actuation System for Wearable Robotic Devices: Design, Control, and Characterization)
Recent Research from Peking University Highlight Findings in Robotics (Bioinspir ed Cable-driven Actuation System for Wearable Robotic Devices: Design, Control, and Characterization)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-A new study on Robotics is now availab le. According to news reporting originating in Beijing, People's Republic of Chi na, by NewsRx journalists, research stated, "Wearable robotic devices interact w ith humans by applying the assistive force in parallel with muscle-tendon system s. Designing actuations in mimicking the natural activation patterns of human mu scles is a promising way to optimize the performance of wearable robots." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news reporters obtained a quote from the research from Peking University, "I n this article, we propose a bioinspired cable-driven actuation system capable o f providing anisometric contractions (including concentric and eccentric contrac tion) assistance or nearly acting as a transparent device in an efficient manner . A novel clutch-spring mechanism is employed to accomplish switches between ass istive modes and the transparent mode. Corresponding control strategies coordina ting with the mechanical design were presented and described in detail. Multiple evaluations were conducted on a test bench to characterize the system's perform ance. The closed-loop bandwidth of the system running concentric assistance cont rol was 18.2 Hz. The R-squared values of linear fitting under eccentric assistan ce control were above 0.99. The engagement time of the proposed clutch was about 90 ms. Applying the actuation to an ankle exoskeleton, multiple walking experim ents with electromyography measurements were performed on five subjects to show its application potential in existing wearable robots. Experimental results reve aled that the proposed design could reduce soleus muscle activity by 27.32% compared with normal walking."
BeijingPeople's Republic of ChinaAsi aEmerging TechnologiesMachine LearningNano-robotRoboticsRobotsPeking University
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