The torque performance and electrical energy consumption of an orthotic, adjustable-compliance knee joint actuator are evaluated during emulated walking and sit-to-stand-to-sit movements. To overcome this, our paper analyzes the effects that changing mechanical compliance has on the actuator's overall performance in different ideal conditions in an experimental test setup.
However, the implications compliance has on the actuator's overall performance in different conditions and activities are not fully understood, largely due to single task-focused experimental evaluations of these devices. In the field of wearable robots, actuator efficiency and user safety are frequently addressed by intentionally adding compliance to the actuation unit. Finally, we demonstrate the applicability of the proposed approach as well as its efficacy in energy consumption reduction in a set of simulations and experiments. Also, theoretical supports for the presented method are developed.
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Fourthly, we propose a framework to find and design a suitable combination of unidirectional and conventional compliances in mono-and bi-articular configurations for increasing the energy efficiency of an n-DoF serial manipulator. Thirdly, we theoretically show that there exists a combination of unidirectional and conventional com-pliances to produce two arbitrary torque profiles for moving back and forth in a reciprocating task. Furthermore, we propose a method to implement a desired unidirectional compliance profile. To overcome this, we secondly introduce the concept of "unidirectional compliance" which produces torque in only one movement direction of a reciprocating joint. To contribute to this area, firstly by presenting the optimality condition of a parallel compliance for energy efficiency, we show that a conventional compliance does not fulfill this condition in general because its force profile is invariant with respect to its movement direction. Parallel compliances can be very efficient in modifying robots' natural dynamics provided that, compliance force profiles match the required joint forces. Composite Materials can be used for manufacturing of various parts of the passive exoskeleton to reduce its overall weight and enhance Mechanical Properties. It has been observed that the proposed design is more comfortable to human beings while running. The stiffness of leaf spring was 56.19 Nm/rad. Total weight of the exoskeleton was 1.5 kg. The leaf spring was with 50 mm width and 1 mm thick. Exoskeleton was designed by using silicon-chromium spring steel for manufacturing of leaf spring. This article discusses the design and testing of waist supportive passive exoskeleton for human comfort. The design is entirely mechanical (passive), which means it does not rely on any external electrical energy inputs. The goal is to create a lower limb assistive exoskeleton that will allow people to run while spending as little energy as possible and which is affordable and can be worn easily. However, developing an unpowered exoskeleton can reduce the human efforts while running is something that requires more attention. A lot of active exoskeletons have been developed in order to provide assistance to the human body while walking or running. See the documentation on Cyberbotics web site (google for ROS Webots).An exoskeleton is a mechanism that works as an external skeleton to assist the human body in daily tasks, rehabilitation, and strengthening. This means that any robot in Webots can be connected to the ROS network out of the box, without installing or recompiling anything.
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Please contact me if you have questions about a specific model.Īlso, it may be interesting for you: the latest version of Webots, e.g., Webots 7.4.1, include a native generic ROS interface running in all versions of Webots, e.g., Windows, Mac OS X and Linux. Therefore, you are not allowed to redistribute modified or converted versions of these models, unless you get the official approval of the the copyright owner to do so (copyright owners of the models distributed in Webots include Cyberbotics and various companies and individuals).
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Please note however that most of the models provided within Webots are not licensed under a free open source license. We recently developed a python script doing the reverse operation: converting a URDF file to a Webots PROTO file, I could share it with you if you are interested.
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