8 accepted papers
This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and…
In this letter: (1) We present a novel human-in-the-loop adaptation method for whole arm muscles’ effort minimization by means of weight compensation in the face of an object with an unknown mass. (2) This adaptation rule can also be used as a cognitive model for the identification of mass va
This letter presents a novel method for reference trajectory adaptation in lower limb rehabilitation exoskeletons during walking. Our adaptation rule is extracted from a cost function that penalizes both interaction force and trajectory modification. By adding trajectory modification term into the c
In this letter, we introduce a novel control strategy called Virtual Energy Regulator (VER) for lower limb rehabilitation exoskeletons. Unlike the conventional trajectory tracking controllers, VER, which is a time-independent controller, does not control the exoskeleton joints over a reference traje
Developing analytical models of efficient locomotion in biology is one of the most interesting goals in bio- inspired robotics. This paper presents a mathematical framework in order to model one of the most energy efficient locomotion types in flying animals; i.e., thermal soaring. Unlike the legged…
Albatross has an energy efficient flying pattern (dynamic soaring) among seabirds. This interesting point encourages us to exploit its flying natural dynamics so as to control the flying robots on energy efficient and robust gaits. In doing so, we study the albatross dynamic soaring from analytical…
In this paper, we present the dynamical equations of a nonlinear adaptive natural oscillator (NANO) in order to exploit the natural dynamics in robotic systems. The presented oscillator tries to minimize an energy-based cost function by adapting the shape and frequency of the reference trajectory. S…