Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training treatment of rehabilitation. Due to compliance continuous deformation capacity, rehabilitation driven by soft actuators are attached widespread attention. Considering large output force pneumatic artificial muscle (PAM) biological musculoskeletal structure, an an...

This article describes the process of development of the robotic foot for the six-legged walking robot Messor. In order to allow the robot to negotiate uneven surfaces and to walk on a compliant ground, the foot includes the sensing device which provides information on contact forces between the foot and the ground. At first, the foot with single-axis force measurement unit is described. Next, ...