In this paper, a gait analysis algorithm for a lower limb rehabilitation robot is proposed. The algorithm realizes the division of gait temporal information and the design of a gait spatiotemporal parameter algorithm based on lidar. A spatial parameter-splicing algorithm based on a time series is proposed, which effectively reduces the influence of errors on gait parameters. Based on the gait algorithm, aiming at real-time algorithm performance, a dynamic window method is proposed.

Traditional path-planning algorithms for bending robots are often a sequence of multiple line segments and an unsmoothed curve, which causes a discontinuous robot motion. A smooth path can ensure continuous motion. We propose an improved artificial potential field-based path-planning method based on the idea of a rapidly exploring random tree (RRT) algorithm, reducing the length of and smoothing the path, thus solving the path-planning problem of a multi-degrees-of-freedom (DOF) bending robot.

Robot-assisted rehabilitation has proven to be effective for improving the motor performance of patients with neuromuscular injuries. Therefore, the main purpose of this paper is to present a new patient-cooperative control framework for an end-effector upper-limb rehabilitation robot that provides robot-assisted training for individuals with neuromuscular disorders. The feasibility of the proposed control scheme is validated via training experiments using five healthy subjects.

We introduce different test scenarios and set-ups for a force control assessment. The force control of Universal Robots (UR10e) and FerRobotics (ACF-K 109/04) are evaluated. A force/torque sensor, mounted below a work piece, measures the applied force by the UR or by the ACF. Results for both UR and ACF force control are presented for varying desired contact velocities and forces. These results show the advantage of the ACF-K 109/04 over the UR10e force control for highly dynamic scenarios.

This study is focused on analyzing signal changes according to internal flow and temperature change by generating micro-leakage, unlike previous studies that experimented with no flow inside a chamber. In addition, a new application method utilizing a phase shift by post-processing the ultrasonic reception signal was proposed. By using the ultrasonic sensor, a different method was proposed for the measurement of micro-leakage of gaseous fuel that relied on the existing pressure sensor.

This study proposed and verified a new idea for the crushing system of a mobile pellet harvester. As the key components of the crushing mechanism, the theoretical design calculation was given, and Ansys software was used to verify the feasibility of the design, specifically by computing the strength and stiffness. Field tests were conducted, and the test results met the requirements. This design can promote the further development of a mobile pellet harvester.

An innovative flapping wing micro aerial vehicle (FWMAV), forming a figure eight wingtip trajectory, which can achieve complex composite motions of flapping, twisting, and swinging is presented in this paper. Along with the design concept of reducing any possible weight and size, the aircraft was designed with classical and reliable mechanical components. Then, experiments were conducted to test the FWMAV aerodynamic efficiency with a complex figure eight wingtip trajectory.

This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used in exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process.

With the resurgence in bicycle ridership in the last decade, a better understanding of bicycle rider behavior is important in accommodating increasing bicycle traffic as well as reducing accidents that come along with it. At TU Delft we have designed a fixed-base bicycle simulator to understand how bicycle rider's interact with other road users in a safe virtual environment.

This article presents a novel continuum robot actuated by two extendable balloons. As inflated, the balloons apply a force on the wall of the tip, pushing the robot forward. The contribution of this study is the introduction of a novel actuation mechanism for soft robots to have extreme elongation (2000 %) in order to be navigated in substantially long and narrow environments.

Compared to the traditional pHRI measurement approaches, the proposed method arranged the sensors in the mechanical joint instead of the connection cuff. This kind of architecture has compact architecture and improves the wearing comfort, which can adapt to various operators and is convenient to be applied in the wearable exoskeleton. The performance of the DEM will be studied in the following work and human-exoskeleton coordination control strategies will be investigated in future work.

The importance of the gear loss factor in the power loss predictions was put in evidence comparing the predictions with experimental results. It was concluded that the gear loss factor is a decisive factor to accurately predict the power loss. Different formulations proposed in the literature were compared and it was shown that only few were able to yield satisfactory correlations with experimental results.

In this paper, 1) We design and built a prototype of a LARM tripod leg mechanism with low-cost easy-operation features that can be useful in a biped locomotor; 2) We present an experimental layout for investigating operational performance of the built prototype; 3) We characterize and analyze the system behaviour by follow a prescribed step movement of the foot platform under consideration with human walking.