A highly stiffness-adjustable robot leg for enhancing locomotive performance

Mechanically stiffness-adjustable actuator using a leaf spring for safe physical human-robot interaction

A mechanical model for adjustable passive stiffness in rabbit detrusor.

Strips of rabbit detrusor smooth muscle (DSM) exhibit adjustable passive stiffness characterized by strain softening: a loss of stiffness on stretch to a new length distinct from viscoelastic behavior. At the molecular level, strain softening appears to be caused by cross-link breakage and is essentially irreversible when DSM is maintained under passive conditions (i.e., when cross bridges are ...

A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation

Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption...

Prediction of sprint active women performance using vertical and leg stiffness

Introduction: The ability to attain high level of speed is an essential component of success in many sports fields. However, physical qualities that underpin this ability remain unclear. The purpose of this study was to investigate the role of leg stiffness and vertical stiffness in predicting sprint running. Methods: 50 healthy females were selected among physical education students. The requi...

Leg Design for a Praying Mantis Robot

The praying mantis uses its front legs for locomotion, prey capture and feeding. Inspired by this dexterity, we began designing a hexapod robot that could use its front legs for both locomotion and manipulation. Our current work focuses on the middle and back legs of the robot. We designed a five degree of freedom leg, using a gimbal to form three intersecting axes of rotation at the hip to imi...