By A. Richard Olson, Henry W. Hicock
Many Machinist tasks, would receive advantages from studying this book.
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M. Stilman, IEEE Transactions on Robotics, 3-26 (2010) 7. R. O. Kortanek, SIAM Review, 3-53 (1993) 8. T. Kagawa and Y. Uno, Human Movement Science, 29-6, 964 (2010). 19 THE DESIGNING OF THE EXOSKELETON LEG WITH PNEUMATIC DRIVES* ARTYOM N. ru NIKOLAI N. BOLOTNIK, VALERY G. GRADETSKY, IVAN L. ERMOLOV, MAXIM M. KNYAZKOV, EUGENIY A. ru The subject matter of this paper is the definition of the design structure for an exoskeleton for personal use and the investigation of the behavior of its leg in the loading-unloading operation mode.
References 1. E. S. Briskin, A. V. Maloletov, A. M. Kolesov, I. P. Vershinina “About control of the biped robot motion by means of a reaction wheel” Volgogorad State Technical University, Izvestia 2010, pp 9-13. 2. K. Kovalchuk “Control algorithms and stabilization analysis of biped robots in dynamics”, MSTU, Moscow, 2008. p150. 3. , Locomotion Robots and Anthropomorphic Mechanisms (in Russian), “Mir” Edition Press, Moscow, 1976, p. 541. 4. , Scientific Fundamentals of Robotics, Control of Manipulation Robots: Theory and Application, Springer-Verlag, 1982, Vol.
3. Design of the Passive Mechanism Proposed passive mechanism should be designed to transmit the weight of the robot and the external loads to the ground when the stance phase. May 23, 2013 15:44 WSPC - Proceedings Trim Size: 9in x 6in CLAWAR˙HYU˙WANS˙fullpapers 38 Therefore, knee and hip module was designed to support the external load and own mass by proposed a quasi-passive mechanism that consist of spring. Figure 2 shows the kinematic model of hip and ankle joint module. Through the hip mechanism, the moment arm of the gas spring becomes 0 in the swing phase, whereas lma is generated when the end of the gas spring is slid along the roller to position Psl in the stance phase.