Leg properties have been involved in the broad study of human walking from mechanical energy to motion prediction robotics. However, variable leg elasticities and their functions during gait not fully explored. This presented that fundamental comprise axial stiffness, rest length, tangential stiffness force-free angles. We measured force-leg length angle data eight participants (mean ± s.d. age 24.6 3.0 years, mass 68.2 6.8 kg, height 177.5 5.2 cm) at three self-selected speeds (slow: 1.25...

This paper explores a hydraulically powered double-joint soft robotic fish called HyperTuna and set of locomotion optimization methods. has an innovative, highly efficient actuation structure that includes four-cylinder piston pump actuator with self-sensing. We conducted deformation analysis on the established finite element model to predict its performance. A closed-loop strategy combining central pattern generator controller proportional–integral– derivative was developed control swimming...

Extending the method coined virtual-center-based (VCB) for synthesizing a group of deployable platonic mechanisms with radially reciprocating motion by implanting dual-plane-symmetric 8-bar linkages into polyhedron bases, this paper proposes first time more general single-plane-symmetric linkage and applies it together to synthesis family one-degree freedom (DOF) highly overconstrained polyhedral (DPMs) motion. The two are compared, geometry kinematics investigated providing geometric...

Wearable sensor technologies, especially continuous monitoring of various human health conditions, are attracting increased attention. However, current rigid sensors present obvious drawbacks, like lower durability and poor comfort. Here, a strategy is proposed to efficiently yield wearable using cotton fabric as an essential component, conductive materials conformally coat onto the fibers, leading highly electrically interconnecting network. To improve conductivity coatings, topographical...

This paper presents two integrated planar-spherical overconstrained mechanisms that are inspired and evolved from origami cartons with a crash-lock base. Investigating the base of cartons, first mechanism is by integrating planar four-bar linkage spherical linkages in diagonal corners. The has mobility one overconstraint was exerted linkages. then into another double-spherical at one. It interesting to find corner this new an 6R linkage. geometry evolution presented constraint matrices...

Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance contraction ratio, output force, dynamic response is often imbalanced limited by materials, structures, or actuation principles. We present lightweight, high-contraction high-output positive pressure-driven X-crossing pneumatic artificial (X-PAMs). Unlike PAMs, our X-PAMs harness the mechanism to directly convert linear motion along actuator axis, achieving an...

Abstract This paper investigates the mobility and kinematics of Hoberman switch-pitch ball, particularly, its variant that does not resort to bevel gears. The ball is a general case constitutes ball. starts from examining geometry composition, decomposes it into loops containing eight-bar radially foldable linkages. To investigate linkage, constraint matrices are developed using screw-loop equation. extends study singularity various configurations based on variant. leads investigation as...

This paper presents for the first time a novel two degrees of freedom (2-DOF) single-looped dual-plane-symmetric spatial eight-bar linkage with exact straight-line motion. Geometry and kinematics are investigated closed-form equations presented revealing motion feature on condition that symmetric inputs given. In order to secure inputs, geared is then proposed converting into 1-DOF The direction produced by changeable only dependent structure parameters pairs V-shaped R-R dyads linkage....

Abstract Limb loss affects many people from a variety of backgrounds around the world. The most advanced commercially available prostheses for transfemoral amputees are fully active (powered) designs but remain very expensive and unavailable in developing Consequently, improvements low-cost, passive have been made to provide high-quality rehabilitation any background. This study explores design evaluation smooth-locking-based bionic knee joint replicate swing phase human gait cycle. two-part...

Abstract Tactile sensors play a crucial role in the development of biologically inspired robotic prostheses, particularly providing tactile feedback. However, existing sensing technology still falls short terms sensitivity under high pressure and adaptability to uneven working surfaces. Furthermore, fabrication often requires complex expensive manufacturing processes, limiting their widespread application. Here we develop conformal sensor with improved performance fabricated using an...

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic has a reconfigurable palm that generates changeable topology and augments dexterity versatility of hand. Structure design presented based on mechanism decomposition kinematics characterized with closed-form solutions leading to workspace investigation With characteristic matrix equation, twisting motion investigated reveal both manipulability Through prototype, grasping prehension are tested...

Electromyography (EMG) devices are well-suited for measuring the behaviour of muscles during an exercise or a task, and widely used in many different research areas. Their disadvantage is that commercial systems expensive. We designed low-cost EMG system with enough accuracy reliability to be wide range possible ways. The present article focuses on validation we designed, which compared commercially available, accurate device. evaluation was done by means set experiments, volunteers...

Understanding the distinct functions of human muscles could not only help professionals obtain insights into underlying mechanisms that we accommodate compromised neuromuscular system, but also assist engineers in developing rehabilitation devices. This study aims to determine contribution major muscle and energy flow musculoskeletal system at four sub-phases (collision, rebound, preload, push-off) during stance walking different speeds. Gait experiments were performed with three...

Abstract Mobile robots can replace rescuers in rescue and detection missions complex unstructured environments draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with reconfigurable body self-adaptable obstacle-climbing mechanisms, which reconfigure itself to three locomotion states realize advantages terrain adaptability, obstacle-crossing ability, portability. Design criteria mechanical design proposed are first presented, based on geometry is...

Abstract Cable-driven mechanisms, particularly in closed-loop configurations, have demonstrated significant advancements flexible drive systems. However, the cable tension changes caused by configuration cannot be effectively compensated. Relevant con- cerns, such as inadequate responsiveness or compromised control accuracy, consequently emerge. This study presents a method for synthesizing family of isosceles trapezoid mirror symmetry modules, ensuring stability tension. The geometric...

The purpose of this paper is to propose a pair external and internal spiral bevel gears with double circular-arc in the nutation drive. Based on movement nutation, develops equations tooth profiles for gear set, leading mathematical modeling constant helical angle alignment curve, enabling surface be generated, permitting theoretical contacting lines produced light meshing function. Simulation verification are carried out prove equations. Numerical control (NC) simulation machining...

This paper delineates the formulation and verification of an innovative robotic elbow-and-forearm system design, mirroring intricate biomechanics human musculoskeletal systems. Conventional models often undervalue substantial function soft tissues which provides a compromise between compactness, safety, stability, range motion. In contrast, this study proposes holistic replication biological joints, encompassing bones, cartilage, ligaments, tendons, culminating in biomimetic robot. The...