Article
Automation & Control Systems
Dongchen Liu, Junzheng Wang, Dawei Shi, Hongwen He, Huaihang Zheng
Summary: This work proposes a force control strategy for a wheel-legged robotic system to adjust its posture on uneven roads. The strategy utilizes a dynamic model and feedback information to calculate desired leg forces, which are used as tracking references. The control scheme is based on the funnel control scheme and incorporates an event-triggering condition to improve system robustness. Experimental results demonstrate the stability and effectiveness of the proposed methodology.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Multidisciplinary
P. Thanh Tran-Ngoc, Leslie Ziqi Lim, Jia Hui Gan, Hong Wang, T. Thang Vo-Doan, Hirotaka Sato
Summary: This paper demonstrates that the complex tarsal structures and claws of insects enable them to walk on complex terrain, and applying insect-inspired tarsus on legged robots can enhance their locomotion on such terrain.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Engineering, Biomedical
Holly A. Knapp, Blaire A. Sobolewski, Jesse C. Dean
Summary: This study investigated the effects of augmented and disrupted feedback on the relationship between pelvis dynamics and foot placement in gait. The results showed that augmented feedback strengthened this relationship, while disrupted feedback did not significantly weaken it.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Engineering, Biomedical
Ting Zhang, Chuanxin Ning, Yang Li, Meng Wang
Summary: This paper proposes a novel design for a hip exoskeleton, using a series elastic actuator with a two-motor variable speed transmission to achieve adjustable torque-velocity characteristics. Benchtop tests and human subject tests confirm the effectiveness of the design.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Engineering, Biomedical
Jongwoo Lee, Meghan E. Huber, Neville Hogan
Summary: This study investigates the neuro-mechanical dynamics and control of unimpaired human locomotion, and the possibility of using robots to aid in rehabilitation. The results show that robot-aided gait entrainment is more likely to occur when the periodic torque pulses are close to the preferred stride duration of the subjects. The intervention shows potential for rehabilitation by utilizing natural dynamics in an effective way.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Multidisciplinary Sciences
Baxi Chong, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Grigoriy Blekherman, Daniel I. Goldman
Summary: This article develops a matter-transport framework based on the principles of information transmission and demonstrates that noninertial locomotion can be reliably generated over complex terrains. Experiments show that serially connected legged robots can achieve reliable transport on such terrain without sensing and control.
Article
Engineering, Biomedical
Jongwoo Lee, Meghan E. Huber, Neville Hogan
Summary: Neurological disorders and aging can impair gait kinematics, and using lower-limb exoskeleton robots to restore gait kinematics is limited. This study found that applying virtual stiffness with a hip exoskeleton can induce changes in gait pattern, but there is little evidence of persistent changes in neuro-motor control. Immediate changes in kinematics suggest that applying hip stiffness with an exoskeleton may be an effective assistive technology.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Engineering, Biomedical
Edward P. Washabaugh, Thomas E. Augenstein, Alissa M. Ebenhoeh, Jiajie Qiu, Kaitlyn A. Ford, Chandramouli Krishnan
Summary: The study developed a unique exoskeleton that can provide different types of elastic resistances to leg muscles during walking and validated its ability to alter gait mechanics, muscle activation, and kinematic aftereffects. The results suggest that the elastic device can offer targeted resistance training during walking to address user-specific muscle weaknesses and gait deficits.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2021)
Article
Robotics
Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M. Rieser, Haosen Xing, Perrin E. Schiebel, Jeffery W. Rankin, Krijn B. Michel, Alfredo Nicieza, John R. Hutchinson, Daniel Goldman, Howie Choset
Summary: This study investigates the coordination between body bending and limb movement in quadrupedal locomotion, using a geometric approach to quantify gait performance and optimize coordination patterns for systems dominated by damping forces. The effectiveness of lateral undulation coordinated with leg movement in robot motion is demonstrated, with theoretical results validated through numerical simulations and robophysical experiments. The study not only focuses on robotics, but also accurately predicts optimal body bending of a living salamander.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Engineering, Biomedical
Bingshan Hu, Fengchen Liu, Ke Cheng, Wenming Chen, Xinying Shan, Hongliu Yu
Summary: Lower limb energy storage assisted exoskeletons use the energy stored during walking to provide walking assistance. These exoskeletons are small, lightweight, and affordable. However, they have fixed stiffness joints that cannot adapt to changes in the wearer's characteristics. This study designs a novel variable stiffness energy storage assisted hip exoskeleton and proposes a stiffness optimization modulation method to store most of the negative work done by the human hip joint during walking. The analysis shows that under the optimal stiffness assistance condition, muscle fatigue is reduced by 8.5% and the exoskeleton provides better assistance.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2023)
Article
Robotics
Fang Nan, Hendrik Kolvenbach, Marco Hutter
Summary: The robotic leg design allows seamless switching between spring-suspended and unsuspended configurations, with different advantages in efficiency for activities such as hopping and position control.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Mechanical
Max Austin, Jason Brown, John Nicholson, Jonathan Clark
Summary: Animal legs exhibit diverse dynamic behaviors, which is important for robot design. This paper proposes the technique of dyno-kinematic leg design (DKLD) to address the challenges of designing legs capable of meeting different dynamic behaviors. The effectiveness of this design methodology is demonstrated through three case studies on different robots, showing its applicability to various legged robotic platforms.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Biomedical
Jenny A. Kent, V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, John T. Brinkmann, Amos G. Winter, Matthew J. Major
Summary: Increasing prosthetic knee flexion damping can improve gait symmetry but may also increase the risk of toe catch. When selecting appropriate resistance for a mechanical prosthetic knee, there is a trade-off between gait safety and other key features.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Robotics
Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis Sako, Davide Tateo, Jan Peters, Marco Hutter
Summary: Parallel-elastic joints improve efficiency and strength of robots by assisting actuators with additional torques. A design optimization framework is introduced to co-optimize a parallel elastic knee joint and locomotion controller for quadrupedal robots. The framework utilizes model-free Reinforcement Learning and Bayesian Optimization to optimize the design parameters and controller. Real-world experiments show that the optimized design improves torque-square efficiency by 33% and reduces maximum joint torque by 30% without compromising tracking performance.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Computer Science, Information Systems
Petr Cizek, Martin Zoula, Jan Faigl
Summary: This paper focuses on the characteristics of six-legged walking robots with statically-stable gaits, proposing a novel construction to improve their motion capabilities, speed, reliability, and endurance. Through experimental verification, significant improvements were achieved, making the robots more adaptable to rough terrains and representing a step further towards future applications and deployments.