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Design And Operation Of Human Locomotion Systems

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Design and Operation of Human Locomotion Systems

Design and Operation of Human Locomotion Systems Book
Author : Marco Ceccarelli,Guiseppe Carbone
Publisher : Academic Press
Release : 2019-10-15
ISBN : 0128156597
Language : En, Es, Fr & De

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Book Description :

Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems

Design and Operation of Human Locomotion Systems

Design and Operation of Human Locomotion Systems Book
Author : Marco Cecarelli,Giuseppe Carbone
Publisher : Academic Press
Release : 2019-09-10
ISBN : 0128156600
Language : En, Es, Fr & De

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Book Description :

Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems

New Trends in Medical and Service Robotics

New Trends in Medical and Service Robotics Book
Author : Georg Rauter,Philippe C. Cattin,Azhar Zam,Robert Riener,Giuseppe Carbone,Doina Pisla
Publisher : Springer Nature
Release : 2020-11-09
ISBN : 3030581047
Language : En, Es, Fr & De

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Book Description :

This book contains the papers of the 7th International Workshop on Medical and Service Robots (MESROB) that was planned to be held in Basel, Switzerland, in July 2020. Since the conference could not be held due to the worldwide Corona pandemic, the proceedings are published in this book and presentation of the accepted papers will be postponed to next year’s conference (MESROB 2021). The main topics of the workshop include: design of medical devices, kinematics and dynamics for medical robotics, exoskeletons and prostheses, anthropomorphic hands, therapeutic robots and rehabilitation, cognitive robots, humanoid and service robots, assistive robots and elderly assistance, surgical robots, human-robot interfaces, haptic devices, medical treatments, medical lasers, and surgical planning and navigation. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaboration among different specialists, demonstrating that medical and service robotics will drive the technological and societal change in the coming decades.

A Television computer System for Human Locomotion Analysis

A Television computer System for Human Locomotion Analysis Book
Author : Michael Owen Jarrett
Publisher : Unknown
Release : 1976
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download A Television computer System for Human Locomotion Analysis book written by Michael Owen Jarrett, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Bioinspired Legged Locomotion

Bioinspired Legged Locomotion Book
Author : Maziar Ahmad Sharbafi,André Seyfarth
Publisher : Butterworth-Heinemann
Release : 2017-11-21
ISBN : 0128037741
Language : En, Es, Fr & De

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Book Description :

Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles

Robotic Augmentation of Human Locomotion for High Speed Running

Robotic Augmentation of Human Locomotion for High Speed Running Book
Author : Jason Kerestes
Publisher : Unknown
Release : 2014
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Human running requires extensive training and conditioning for an individual to maintain high speeds (greater than 10mph) for an extended duration of time. Studies have shown that running at peak speeds generates a high metabolic cost due to the use of large muscle groups in the legs associated with the human gait cycle. Applying supplemental external and internal forces to the human body during the gait cycle has been shown to decrease the metabolic cost for walking, allowing individuals to carry additional weight and walk further distances. Significant research has been conducted to reduce the metabolic cost of walking, however, there are few if any documented studies that focus specifically on reducing the metabolic cost associated with high speed running. Three mechanical systems were designed to work in concert with the human user to decrease metabolic cost and increase the range and speeds at which a human can run. The methods of design require a focus on mathematical modeling, simulations, and metabolic cost. Mathematical modeling and simulations are used to aid in the design process of robotic systems and metabolic testing is regarded as the final analysis process to determine the true effectiveness of robotic prototypes. Metabolic data, (VO2) is the volumetric consumption of oxygen, per minute, per unit mass (ml/min/kg). Metabolic testing consists of analyzing the oxygen consumption of a test subject while performing a task naturally and then comparing that data with analyzed oxygen consumption of the same task while using an assistive device. Three devices were designed and tested to augment high speed running. The first device, AirLegs V1, is a mostly aluminum exoskeleton with two pneumatic linear actuators connecting from the lower back directly to the user's thighs, allowing the device to induce a torque on the leg by pushing and pulling on the user's thigh during running. The device also makes use of two smaller pneumatic linear actuators which drive cables connecting to small lever arms at the back of the heel, inducing a torque at the ankles. Device two, AirLegs V2, is also pneumatically powered but is considered to be a soft suit version of the first device. It uses cables to interface the forces created by actuators located vertically on the user's back. These cables then connect to the back of the user's knees resulting in greater flexibility and range of motion of the legs. Device three, a Jet Pack, produces an external force against the user's torso to propel a user forward and upward making it easier to run. Third party testing, pilot demonstrations and timed trials have demonstrated that all three of the devices effectively reduce the metabolic cost of running below that of natural running with no device.

Mobile Robots for Dynamic Environments

Mobile Robots for Dynamic Environments Book
Author : Emin Faruk Kececi,Marco Ceccarelli
Publisher : Unknown
Release : 2015-05
ISBN : 9780791860526
Language : En, Es, Fr & De

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Book Description :

For several decades now, mobile robots have been integral to the development of new robotic systems for new applications, even in non-technical areas. Mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, demining operations, surveillance, entertainment, museum guides and many other industrial and non-industrial applications. In some cases these products are readily available on the market. A considerable amount of literature is also available; not all of which pertains to technical issues, as listed in the chapters of this book and its companion. Readers will enjoy this book and its companion and will utilize the knowledge gained with satisfaction and will be assisted by its content in their interdisciplinary work for engineering developments of mobile robots, in both old and new applications. This book and its companion can be used as a graduate level course book or a guide book for the practicing engineer who is working on a specific problem described in one of the chapters.

Innovative Processing Methods For Synthesizing Advanced Structural And Functional Materials

Innovative Processing Methods For Synthesizing Advanced Structural And Functional Materials Book
Author : Dr. Mohamed Zakaulla
Publisher : RED'SHINE Publication. Pvt. Ltd
Release : 2022-07-07
ISBN : 9389840902
Language : En, Es, Fr & De

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Book Description :

Download Innovative Processing Methods For Synthesizing Advanced Structural And Functional Materials book written by Dr. Mohamed Zakaulla, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Applied Mechanics Reviews

Applied Mechanics Reviews Book
Author : Anonim
Publisher : Unknown
Release : 1982
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Applied Mechanics Reviews book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Raad 2012 Proceeding 21th International Workshop on Robotics in Alpe Adria Danube Region Naples 10 13 September 2012

Raad 2012 Proceeding  21th International Workshop on Robotics in Alpe Adria Danube Region  Naples  10 13 September 2012  Book
Author : Cesare Rossi,Marco Ceccarelli
Publisher : E.S.A.
Release : 2012
ISBN : 889543045X
Language : En, Es, Fr & De

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Book Description :

Download Raad 2012 Proceeding 21th International Workshop on Robotics in Alpe Adria Danube Region Naples 10 13 September 2012 book written by Cesare Rossi,Marco Ceccarelli, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Measurement of Human Locomotion

Measurement of Human Locomotion Book
Author : Vladimir Medved
Publisher : CRC Press
Release : 2000-12-21
ISBN : 142003698X
Language : En, Es, Fr & De

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Book Description :

The importance of measurements for the proper assessment of human locomotion is increasingly being recognized. The fields of application encompass both healthy and pathological locomotion as encountered in rehabilitation medicine, orthopedics, kinesiology, sports medicine, and the like. Measurement of Human Locomotion provides an up-to-date description of the instrument systems used for measurement of: kinematics of human movement; kinetic quantities experienced by the human body in contact with the ground; and, myoelectric changes associated with locomotor activity. Physical principles behind the operation of various measurement systems are emphasized, as well as signal processing issues that must be addressed in order to obtain and use quantitative measurement variables in biomechanics. The book explains how measurement data are acquired, processed and presented to the user in the environment of a modern, computer-based laboratory. The ultimate aim is to contribute to the processes of the diagnosis and treatment of locomotion disorders. The purpose of Measurement of Human Locomotion is to provide a concise but comprehensive presentation of the systems used for the measurement of human locomotion, with a view to the assessment and diagnosis of the phenomenon.

Robot Intelligence Technology and Applications 2012

Robot Intelligence Technology and Applications 2012 Book
Author : Jong-Hwan Kim,Eric T Matson,Hyun Myung,Peter Xu
Publisher : Springer Science & Business Media
Release : 2013-04-03
ISBN : 3642373747
Language : En, Es, Fr & De

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Book Description :

In recent years, robots have been built based on cognitive architecture which has been developed to model human cognitive ability. The cognitive architecture can be a basis for intelligence technology to generate robot intelligence. In this edited book the robot intelligence is classified into six categories: cognitive intelligence, social intelligence, behavioral intelligence, ambient intelligence, collective intelligence and genetic intelligence. This classification categorizes the intelligence of robots based on the different aspects of awareness and the ability to act deliberately as a result of such awareness. This book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 1st International Conference on Robot Intelligence Technology and Applications (RiTA), held in Gwangju, Korea, December 16-18, 2012. For a better readability, this edition has the total 101 papers grouped into 3 chapters: Chapter I: Cognitive Intelligence, Social Intelligence and Behavioral Intelligence, Chapter II: Ambient Intelligence, Collective Intelligence and Genetic Intelligence, Chapter III: Intelligent Robot Technologies and Applications.

Wearable Robotics Challenges and Trends

Wearable Robotics  Challenges and Trends Book
Author : Juan C. Moreno,Jawad Masood,Urs Schneider,Christophe Maufroy,Jose L. Pons
Publisher : Springer Nature
Release : 2021-07-01
ISBN : 3030695476
Language : En, Es, Fr & De

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Book Description :

This book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, discussing industrially and medically-relevant issues, as well as legal and ethical aspects. It covers exemplary case studies highlighting challenges related to the implementation of wearable robots for different purposes, and describing advanced solutions. Based on the 5th International Symposium on Wearable Robotics, WeRob2020, and on WearRacon Europe 2020, which were both held online on October 13-16, 2020, the book addresses a large audience of academics and professionals working in for the government, in the industry, and in medical centers, as well as end-users alike. By merging together engineering, medical, ethical and industrial perspectives, it offers a multidisciplinary, timely snapshot of the field of wearable technologies.

ROMANSY 11

ROMANSY 11 Book
Author : A. Morecki,G. Bianchi,C. Rzymkowski
Publisher : Springer
Release : 2014-05-04
ISBN : 3709126665
Language : En, Es, Fr & De

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Book Description :

The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the eleven symposia to date present a world view of the state of the art. The proceedings of this eleventh edition focus mainly on problems of mechanical engineering and control.

The 11th IFToMM International Symposium on Science of Mechanisms and Machines

The 11th IFToMM International Symposium on Science of Mechanisms and Machines Book
Author : Ion Visa
Publisher : Springer Science & Business Media
Release : 2013-10-18
ISBN : 3319018450
Language : En, Es, Fr & De

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Book Description :

The general topic of the symposium follows mechanisms development through all stages of conception, modeling, analysis, synthesis and control to advanced product design. This volume brings together the latest results in the field and celebrates a series of conferences that has been running for 40 years. The contributors and the editor are world leaders in their field.

Robot 2015 Second Iberian Robotics Conference

Robot 2015  Second Iberian Robotics Conference Book
Author : Luís Paulo Reis,António Paulo Moreira,Pedro Lima,Luis Montano,Victor Munoz Martinez
Publisher : Springer
Release : 2015-11-27
ISBN : 3319271490
Language : En, Es, Fr & De

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Book Description :

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. The conference featured 19 special sessions, plus a main/general robotics track. The special sessions were about: Agricultural Robotics and Field Automation; Autonomous Driving and Driver Assistance Systems; Communication Aware Robotics; Environmental Robotics; Social Robotics: Intelligent and Adaptable AAL Systems; Future Industrial Robotics Systems; Legged Locomotion Robots; Rehabilitation and Assistive Robotics; Robotic Applications in Art and Architecture; Surgical Robotics; Urban Robotics; Visual Perception for Autonomous Robots; Machine Learning in Robotics; Simulation and Competitions in Robotics; Educational Robotics; Visual Maps in Robotics; Control and Planning in Aerial Robotics, the XVI edition of the Workshop on Physical Agents and a Special Session on Technological Transfer and Innovation.

Handbook of Research on Biomimetics and Biomedical Robotics

Handbook of Research on Biomimetics and Biomedical Robotics Book
Author : Habib, Maki
Publisher : IGI Global
Release : 2017-12-15
ISBN : 1522529942
Language : En, Es, Fr & De

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Book Description :

Biomimetic research is an emerging field that aims to draw inspiration and substances from natural sources and create biological systems in structure, mechanism, and function through robotics. The products have a wide array of application including surgical robots, prosthetics, neurosurgery, and biomedical image analysis. The Handbook of Research on Biomimetics and Biomedical Robotics provides emerging research on robotics, mechatronics, and the application of biomimetic design. While highlighting mechatronical challenges in today’s society, readers will find new opportunities and innovations in design capabilities in intelligent robotics and interdisciplinary biomedical products. This publication is a vital resource for senior and graduate students, researchers, and scientists in engineering seeking current research on best ways to globally expand online higher education.

Design and Control of Powered Lower Limb Prostheses

Design and Control of Powered Lower Limb Prostheses Book
Author : Molei Wu
Publisher : Unknown
Release : 2016
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

In the development of powered lower-limb prostheses, providing sufficient power and torque to support amputees' locomotion is a major challenge, considering prostheses' weight and size limits. Furthermore, regulating the power delivery during locomotion is equally important that gives amputees safe and natural movements. This dissertation aims to address these challenges by investigating new approaches in the actuation and control of powered lower-limb prostheses, with the overarching objective to obtain compact, powerful lower-limb prostheses that interact with amputees and the environment in a coordinated manner. The initial efforts were focused on the design and control of transfemoral (TF, also known as above-knee) prostheses powered by pneumatic muscles, an extraordinary actuator with superb power-to-weight ratio. The first prototype incorporates powered knee and ankle joints in a volumetric profile similar to that of human leg. The unique feature is a single-acting-spring-return mechanism, in which a single pneumatic muscle drives the motion in the torque-demanding direction, while a set of mechanical springs drives the motion in the opposite direction. A finite-state impedance controller has been developed for this prosthesis, which was demonstrated to provide a natural gait. Based on previous success, a novel type of pneumatic muscle, namely double-acting sleeve muscle (DASM), was examined to replace traditional pneumatic muscle. Incorporating a second chamber, the DASM is able to provide additional extensional force without using return springs. Therefore, the prosthesis can be significantly simplified into a more compact and lightweight device. Compared with pneumatic muscles, traditional cylinder-type actuators are more technologically mature. Therefore, the subsequent efforts were to develop a pneumatic cylinder-actuated TF prosthesis, which has great potential for real-world applications. All peripheral components were integrated, including a carbon fiber air tank as the energy source, and the prosthesis' capability of independent, untethered operation was demonstrated in human walking test. In addition to the improvement of prosthetic design, control methods were also investigated. The results include an integrated walking -- stair climbing controller and a sit-to-stand controller. Both were developed based on biomechanical analysis of the knee dynamics in human locomotion. In the walking -- stair climbing control system, an improved finite state impedance controller was constructed, which incorporates a unique time function to enable gradual energy injection during weight acceptance phase. An intuitive thigh position-based switching condition was introduced to merge the walking and stair climbing controllers into one system. In the sit-to-stand controller, a similar controller was established, which eliminates the need for a state machine and significantly simplifies the controller tuning and implementation. The human testing was conducted with results demonstrating the effectiveness of both control systems.

Powered Prostheses

Powered Prostheses Book
Author : Houman Dallali,Emel Demircan,Mo Rastgaar
Publisher : Academic Press
Release : 2020-04-17
ISBN : 012817451X
Language : En, Es, Fr & De

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Book Description :

Powered Prostheses: Design, Control, and Clinical Applications presents the state-of-the-art in design, control and application of assistive technologies used in rehabilitation, including powered prostheses used in lower and upper extremity amputees and orthosis used in the rehabilitation of various joint disorders. The progress made in this field over the last decade is so vast that any new researcher in this field will have to spend years digesting the main achievements and challenges that remain. This book provides a comprehensive vision of advances, along with the challenges that remain on the path to the development of true bionic technology. Describes the latest assistive technologies that can help individuals deal with joint pain or limb loss Presents a tangible and intuitive description of scientific achievements made Highlights the existing technologies and devices that are available and used by amputees or patients with mobility limitations Suggests solutions and new results that can further enhance assistive technologies