Hydrodynamics of Butterfly-Mode Flapping Propulsion of Dolphin Pectoral Fins with Elliptical Trajectories.

This article aims to numerically study the hydrodynamic performance of the bionic dolphin equipped with a pair of rigid pectoral fins. We use dynamic-grid technology and user-defined functions to simulate a novel butterfly-mode flapping propulsion of the fins. This pattern of propulsion is composed of three angular degrees of freedom including the pitch angle , the azimuth angle and the roll angle , which can be divided into four stages for analysis within a single cycle.

Learning-Based Repetitive Control of a Bowden-Cable-Actuated Exoskeleton with Frictional Hysteresis.

Bowden-cable-actuated soft exoskeleton robots are known for their light weight and flexibility of power transmission during rehabilitation training or movement assistance for humans. However, friction-induced nonlinearity of the Bowden transmission cable and gearbox backlash pose great challenges forprecise tracking control of the exoskeleton robot. In this paper, we proposed the design of a learning-based repetitive controller which could compensate for the non-linearcable friction and gearbox backlash in an iterative manner.

Kinetic Walking Energy Harvester Design for a Wearable Bowden Cable-Actuated Exoskeleton Robot.

Over the past few decades, wearable exoskeletons of various forms have been developed to assist human activities or for rehabilitation of movement disorders. However, sustainable exoskeletons with efficient energy harvesting devices still have not been fully explored. In this paper, we propose the design of a lightweight wearable Bowden-cable-actuated soft exoskeleton robot with energy harvesting capability.

Design of an Ankle Exoskeleton That Recycles Energy to Assist Propulsion During Human Walking.

Objective: Active exoskeletons can handle different walking conditions, but require bulky components (e.g., motors) that need a significant source of power to do so.