Prosthesis and Locomotion
Design, Fabrication and Control of a Bipedal Robot Using Serial-Parallel Hybrid Leg Mechanism
In this project, we are going to build and fabricate a design for the bipedal robot then based on the controller that we will use, we will make a performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism. It is a leg mechanism that achieves 6 DOF with a combined structure of serial and parallel mechanism. It is designed to have a light structural inertia and large workspace for agile bipedal locomotion.
Control and Design a Prosthetic Robotic Leg with Spherical Joint
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged robots that must rapidly regulate compliant interactions with the environment. However, no metric exists to quantify the robot’s performance degradation due to mechanical losses in the actuators and transmissions. In this project we expect that the framework presented that will be presented here will provide the fundamental tools for designing the next generation of legged robots that can effectively interact with the world.
Ankle-Foot Prosthesis Emulator for Human Locomotion Experiments
Robotic prostheses have the potential to significantly improve mobility for people with lower-limb amputation. Humans exhibit complex responses to mechanical interactions with these devices, however, and computational models are not yet able to predict such responses meaningfully. Experiments therefore play a critical role in development, but have been limited by the use of product like prototypes, each requiring years of development and specialized for a narrow range of functions. In this project we describe a robotic ankle–foot prosthesis system that enables rapid exploration of a wide range of dynamical behaviors in experiments with human subjects.
Spherical Parallel Manipulator: Control Design and Fabrication
This project addresses an optimal study of workspace for spherical parallel mechanism and one of its application can be the laparoscopic surgery. The spherical parallel manipulator has been selected because of its characteristics. Two designs will be studied for maximizing their workspaces; a haptic device, as part of training system, and a laparoscope holding mechanism.