This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tend...

In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously tendon-driven system. performs pumping actuating supply air hindlegs, passively actuated from forelegs. We conducted series of experiments...

BACKGROUND Ultrasonography has been widely applied for in vivo measurements of tendon mechanical properties. Assessments of human Achilles tendon mechanical properties have received great interest. Achilles tendon injuries predominantly occur in the tendon region between the Achilles-soleus myotendinous junction and Achilles-calcaneus osteotendinous junction i.e. in the free Achilles tendon. Ho...

Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe thus allow Human-Robot Collaboration. This letter presents the design of a robotic structure stiffness. A manipulator is developed using three stiff segments particle jamming with backbone architecture two tendons for an underactuated control whole structure. By switching ...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

Management of tendinopathies and tendon rupture is challenging. In the last few decades, several emerging strategies including tissue engineering with mesenchymal stem cells have been proposed to enhance tendon healing. They hold the promise to yield more successful outcomes for the management of patients with tendon pathology. Current in vitro studies support the application of these cell-base...