This paper proposes a walker system with power assistance device for standing up motion. Our system focuses on domestic uses for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance mechanism with four parallel linkages. Our proposed mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparin...

Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the timevarying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this pap...

A key challenge in robotic bipedal locomotion is the design of feedback controllers that function well in the presence of uncertainty, in both the robot and its environment. This paper addresses the design of feedback controllers and periodic gaits that function well in the presence of modest terrain variation, without over reliance on perception and a priori knowledge of the environment. Model...

Captain Basile is a robot inspired from the cockroach and built to participate at the SAE Walking Machine Challenge 2004, an undergraduate competition of walking robots. The robot weighs 35 kg and is 86 cm long, 58 cm wide and 38 cm tall. Initially validated by the use of dynamic simulations, this pneumatic actuated hexapod is characterised by specialized legs, passive visco-elastic elements an...

background: there is growing evidence that diabetes mellitus (dm) is an important risk factor for tuberculosis (tb). a significant number of dm patients have poor glycemic control. this study was carried out to find the impact of poor glycemic control on newly diagnosed smear-positive pulmonary tuberculosis patients with type-2 diabetes mellitus in a tertiary care hospital. methods: in a hospit...

This paper considers the design and evaluation of stabilising controllers for a twelve degree of freedom biped robot using linear quadratic optimal control techniques and reduced order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the doubl...