Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision.

Bio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-level motion characteristics. Although both disciplines strive to better understand natural motion and muscle coordination, they have yet to meet.

Exploiting the intrinsic deformation of a prosthetic foot to estimate the center of pressure and ground reaction force.

The properties of the foot deployed in a bipedal robot that targets the rendering of a human-like dynamic gait are crucial. Firstly, it has to implement a set of mechanical mechanisms/properties that improve the efficiency of the locomotion. Secondly, it has to integrate a sensory system that captures the interaction with the ground with suitable precision.

Analysis and Improvements in AprilTag Based State Estimation.

In this paper, we analyzed the accuracy and precision of AprilTag as a visual fiducial marker in detail. We have analyzed error propagation along two horizontal axes along with the effect of angular rotation about the vertical axis. We have identified that the angular rotation of the camera (yaw angle) about its vertical axis is the primary source of error that decreases the precision to the point where the marker system is not potentially viable for sub-decimeter precise tasks.

Design of the musculoskeletal leg [Formula: see text] based on the physiology of mono-articular and biarticular muscles in the human leg.

In a lower extremity musculoskeletal leg, the actuation kinematics define the interaction of the actuators with each other and the environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mechanism. Actuator kinematics is mainly dependent on the moment arm profile of the actuation system.

A Variable Stiffness Actuator Module With Favorable Mass Distribution for a Bio-inspired Biped Robot.

Achieving human-like locomotion with humanoid platforms often requires the use of variable stiffness actuators (VSAs) in multi-degree-of-freedom robotic joints. VSAs possess 2 motors for the control of both stiffness and equilibrium position. Hence, they add mass and mechanical complexity to the design of humanoids.

Design of variable-damping control for prosthetic knee based on a simulated biped.

This paper presents the development of a variable-damping controller for a prosthetic knee using a simulated biped in a virtual environment before real tests are conducted on humans. The simulated biped incorporates several features of human walking, such as functional morphology, exploitation of inherent dynamics, hierarchical control network, combination of feed-forward and feedback controllers and phase-dependent modulation. Based on this virtual model of human walking, we have studied biomechanical aspects of the knee joint during walking.