A5053870321- Modular Robots and Swarm Intelligence
- Structural Analysis and Optimization
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Stroke Rehabilitation and Recovery
- Advanced Materials and Mechanics
- Robotic Locomotion and Control
- Underwater Vehicles and Communication Systems
- Orthopaedic implants and arthroplasty
Shandong University
2022-2025
Ministry of Education of the People's Republic of China
2022
Most current in-pipe robots are usually designed for pipes of a specific size. In this letter, we propose novel inchworm-like robot based on the concept tensegrity moving in with varying diameters. Firstly, tensegrity-based robotic module capable two kinds shape change is designed. One kind extension axial direction accompanied by contraction radial direction, which basis wave-like crawling movement robot. The other expansion while keeping changeless enabling adaptable to different Then,...
High mechanical loads generated during walking may accelerate the wear of knee joint. General exoskeletons mainly reduce joint load by applying pure torque assistance to force required extensor muscles. This study aims further early and middle stance phases through a gait intervention strategy that combines vertical assistance. Comprehensive experiments were conducted verify in reducing load. The results demonstrated significantly reduced maximum mean phases. Our studies indicated have...
This article presents the development of a novel tensegrity-based robot, TICBot, which is capable crawling in tubular environments. Based on concept tensegrity, deformable robotic module consisted discrete rigid struts and continuous net elastic springs proposed. Then, in-pipe robot designed by serially cascading three uniform modules. The mechanical structure determined using force density method basis kinematic static analysis. Performance aspects shape changeability, mobility, load...
This paper presents a novel concept to develop robots capable of crawling in tubular environments, inspired by the movement earthworms and biological musculoskeletal systems nature. A tensegrity structures-based robotic module with shape changeability actuated only one linear actuator is proposed. The mechanical structure determined on basis force density method. By serially cascading three uniform modules, in-pipe robot designed manufactured. has abilities crawl both horizontal vertical...
Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a robot that can be designed and manufactured quickly is one solution. The tensegrity structure self-stressing spatial formed by the interaction of rigid members flexible cables, which has advantages simple structure, good flexibility, deformability, impact resistance. Inspired this we design novel worm-like for different environments, rapidly at low cost. Firstly,...
In the process of walking, humans are accompanied by important action foot rotation. The rotates taking heel and toe as axis rotation when landing on leaving ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this feature. This paper describes a method for adding into using passive metatarsophalangeal joint. Firstly, biomechanics human joint during walking is analyzed. Then, control strategy based finite state machine human-like with proposed...