The Experts below are selected from a list of 27 Experts worldwide ranked by ideXlab platform

Qiang Huang - One of the best experts on this subject based on the ideXlab platform.

  • CBS - Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

  • Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

Dawei Zhang - One of the best experts on this subject based on the ideXlab platform.

  • ICARCV - Stiffness estimation of the flexure-based five-bar micro-manipulator
    2008 10th International Conference on Control Automation Robotics and Vision, 2008
    Co-Authors: Yanling Tian, Bijan Shirinzadeh, Dawei Zhang
    Abstract:

    This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal Revolution Joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

  • Stiffness estimation of the flexure-based five-bar micro-manipulator
    2008 10th International Conference on Control Automation Robotics and Vision, 2008
    Co-Authors: Yanling Tian, Bijan Shirinzadeh, Dawei Zhang
    Abstract:

    This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal Revolution Joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

Xin Li - One of the best experts on this subject based on the ideXlab platform.

  • CBS - Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

  • Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

Yanling Tian - One of the best experts on this subject based on the ideXlab platform.

  • ICARCV - Stiffness estimation of the flexure-based five-bar micro-manipulator
    2008 10th International Conference on Control Automation Robotics and Vision, 2008
    Co-Authors: Yanling Tian, Bijan Shirinzadeh, Dawei Zhang
    Abstract:

    This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal Revolution Joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

  • Stiffness estimation of the flexure-based five-bar micro-manipulator
    2008 10th International Conference on Control Automation Robotics and Vision, 2008
    Co-Authors: Yanling Tian, Bijan Shirinzadeh, Dawei Zhang
    Abstract:

    This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal Revolution Joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

Xiaohua Zhang - One of the best experts on this subject based on the ideXlab platform.

  • CBS - Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.

  • Design of compliant Joints and human-robot connection in an ankle-foot exoskeleton
    2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2017
    Co-Authors: Xin Li, Xiaohua Zhang, Qiang Huang
    Abstract:

    This paper presents the design of compliant ankle and toe Joints and a human-robot connection in an ankle-foot exoskeleton. The ankle Joint driven by an adapted series-elastic actuator is proposed to provide sufficient power to assist the wearer in daily locomotion. In order to obtain a human-like toe Joint with compliance, the toe Joint is driven by a cable-driven actuator with both series and parallel elasticity. The parallel elasticity is used to decrease the required motor power by storing elastic energy. In addition, a passive two-degree-of-freedom human-robot connection including a Revolution Joint and a slider is designed to protect the wearer from uncontrollable forces which are induced by hyperstaticity.