We consider initial and boundary value problems modelling the vibrations of a plate with piezoelectric actuator. The simplest model leads to the Bernoulli-Euler plate equation with right hand side given by a distribution concentrated in an interior curve multiplied by a real valued time function representing the voltage applied to the actuator. We prove that, generically with respect to the cur...

In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human–robot interaction (pHRI). The performance of actuators largely depends on the stiffness elastic element. Generally, low desirable to achieve impedance, high fidelity force control pHRI, while required ensure sufficient bandwidth output force. These requirements, however, are contradic...

Abstract Pennate muscle is characterized by fibers that are oriented at a certain angle (pennation angle) relative to the muscle’s line of action and rotation during contraction. This fiber amplifies shortening velocity muscle, match loading conditions without any control system. unique variable gearing mechanism, which Architecture Gear Ratio (AGR), involves complex interaction among three key...

Minimising the energy consumption associated with periodic motion is a priority common to wide range of technologies and organisms. These include many forms biological biomimetic propulsion system, such as flying insects. Linear nonlinear elasticity can play an important role in optimising energetic behaviour these systems, via linear or resonance. However, existing methods for computing energe...

We present an actuator designed for untethered, lower-extremity powered-prostheses that replicates biological kinetic and kinematic function of both human knees ankles. An electric energy optimal hardware specification is defined by kinematically clamping walking gait data to the dynamic model a series elastic (SEA) searching motor, reduction ratio, spring. The shown achieve required torque, an...

An exosuit is a wearable robot that assists the muscular strength of human wears it by using multiple wires with similar functions to muscles. This study focuses on development series elastic tendon actuator (SETA) for actuation an exosuit. A gait analysis was performed walking stairs deduce design requirements SETA, and necessary performances were then determined based these requirements. The ...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...