This paper proposes a sensor-less robust force control method for improving the control performance of an electro-mechanical brake (EMB) which is applicable to commercial city buses. The EMB generates the accurate clamping force commanded by a driver through an independent motor control at each wheel instead of using existing mechanical components. In general, an EMB undergoes parameter variati...

“I will never forget the emotion of my first steps [...],” Françoise, first user during initial trials of the exoskeleton ATALANTE [1] discussed in this paper. “I am tall again!”, Sandy, the fourth user after standing up in the exoskeleton. In these early tests, complete paraplegic patients have dynamically walked up to 10 m without crutches or other assistance using a feedback control method o...

Ever since human ancestors picked up rocks and used them as tools, technology has enhanced human capabilities. Over the last decades more and more research has been done in trying to enhance strength and endurance by means of an exoskeleton. Reducing the metabolic cost of human walking using lower extremity exoskeletons is one of the challenges that has been taken on by several research groups....

This article presents a multi-objective design optimization strategy to determine an optimal of digital hydraulically driven knee exoskeleton. To satisfy the overall goal compact and lightweight design, four key objectives are defined. Via genetic algorithm based technique, pareto-optimal set designs is determined trade-offs between analysed. decisions on component availability user-comfort, di...

Gait phase detection is of great significance in the field motion analysis and exoskeleton-assisted walking, can realize accurate control exoskeleton robots. Therefore, order to obtain gait information ensure good accuracy, a recognition framework based on New Hidden Markov Model (NHMM) proposed improve accuracy detection. A multi-sensor data acquisition system was developed used collect traini...

The design of a robotic exoskeleton often focuses on replicating the kinematics of the human limb that it is connected to. However, human joint kinematics is so complex that in practice, the kinematics of artificial exoskeletons fails to reproduce it exactly. This discrepancy results in hyperstaticity. Namely, uncontrolled interaction forces appear. In this paper, we investigate the problem of ...

The American lobster (Homarus americanus) displays a diverse set of locomotory behaviours that includes tail flips, walking and paddling. Paddling is carried out by the four pairs of paddle-shaped pleopods on the ventral abdomen. Although it is recognized that pleopod-generated fluid flows have some locomotory role in adults, reports on their relative importance in locomotion are inconsistent. ...

The study investigated the effects of using a lower body prototype exoskeleton (EXO) on static limits of stability and postural sway. Measurements were taken with participants, 10 US Army enlisted men, standing on a force platform. The men were tested with and without the EXO (15 kg) while carrying military loads of 20, 40 and 55 kg. Body lean to the left and right was significantly less and po...

A multi-degree-of-freedom (multi-DOF) exoskeleton relies on an array of sensors to communicate its state (e.g., positions/orientations) and operator-exoskeleton contact interactions forces/torques) control system. Although sensor redundancy is common in biological systems cope with uncertainty partial failure sensors, man-made systems, increases the overall system's cost complexity. This study ...