Computer Aided Drafting, Design and Manufacturing Volume 26, Number 2, June 2016, Page 53. The design of exoskeleton lower limbs rehabilitation robot

Size: px
Start display at page:

Download "Computer Aided Drafting, Design and Manufacturing Volume 26, Number 2, June 2016, Page 53. The design of exoskeleton lower limbs rehabilitation robot"

Transcription

1 Computer Aided Drafting, Design and Manufacturing Volume 26, Number 2, June 2016, Page 53 CADDM The design of exoskeleton lower limbs rehabilitation robot Zhao Xiayun 1, Wang Zhengxing 2, Liu Zhengyu 1,3, Zhang Li 1,3 1. School of Machinery and Automobile Engineering, HFUT, Hefei , China; 2. Zhejiang Henglin Chair Industry Co. Ltd. Anji , China; 3. Engineering Research Center of Safety-critical Industry Measure and Control Technology of Ministry of Education, Hefei , China. Abstract: To achieve human lower limbs rehabilitation training,the exoskeleton lower limbs rehabilitation robot is designed. Through respective motor driving, the retarding mechanism and telescopic adjusting mechanism, the function of human walking is accomplished. After the design of the mechanical structure, the finite element analysis is carried out on the important parts and the control system is achieved by Single Chip Microcomputer. Key words: SCM; lower limbs rehabilitation robot; finite element analysis 1 Introduction As the improvement of human living conditions, population structure has gradually entered the population ageing stage in China and the people with limb dysfunction have increased. Patients, who cannot get a full recovery by surgery or medication, need to take the rehabilitation robot as a part of their treatment. Although there are many researches on lower limbs rehabilitation robot in China, the structure of device is complex, low automation and can t satisfy the needs of the patients [1-2]. Therefore, this paper presents an exoskeleton lower limbs rehabilitation robot, which accords with human curve of gait and has flexible adjustment. It has important practical significance for a large part of the sick and the elderly s life and health. rehabilitation facility is divided into three parts. First of all, the servo motor, which is fixed at the waist, drives hip joint movement for the thigh part, through the reduction gear and waist hip joint actuator. Secondly, linear actuator drives the movement of crus and two degrees of freedom movement of the ankle. Thirdly, both thigh and crus support components include adjusting the length of the telescopic mechanism to meet the requirements of different height of the crowd. In addition, the exoskeleton lower limbs rehabilitation facility also includes some torque transducer and angle transducer to monitor the training process of each joint movement situation, achieving the monitoring and feedback function. The schematic diagram is shown in Fig.1. 2 Design of mechanism 2.1 Overall design scheme The exoskeleton lower limbs rehabilitation mechanism is mainly composed of hip joint actuator, thigh support components, knee joint actuator, crus support components, ankle joint actuator and the sole support parts. There are eight degrees of freedom in the whole structure, and four degrees of freedom in each leg, which can achieve flexible body movements and meet the demand of rehabilitation exercise [3]. The movement of exoskeleton lower limbs Fig. 1 Overall mechanism. Project item: Supported by Science and Technology Department of Anhui Province Regional Innovation Projects and Qiushi Plan (JZ2015QSJH0245) Corresponding author: Zhang Li, Female, Master, Professor, 77zhangli@hfut.edu.cn.

2 54 Computer Aided Drafting, Design and Manufacturing (CADDM), Vol.26, No.2, Jun Hip transmission mechanism Hip transmission mechanism is mainly composed of a set of universal joints and transmission shafts. Transmission shafts are connected by a spline, which can be adjusted within a certain distance and cooperate with the damping device at the waist to against lateral impact load. Also, two universal joints ensure the instantaneous angular velocity of the input shaft and output shaft. A set of universal joints and transmission shafts will eventually transfer power of servo motor to the hip gear to complete the rotation of the hip and lift the thigh part. Hip transmission mechanism schematic diagram is shown in Fig The ankle joint mechanism According to the movement rule of human feet, ankle joint structure should be designed into two degrees of freedom which can realize the forward and backward, turn right or left. Ankle joint actuator schematic diagram is shown in Fig.4. Fig. 4 Ankle joint actuator. Fig. 2 Hip transmission mechanism. 2.3 The leg telescopic adjusting mechanism A main supporting part of the lower limbs rehabilitation facility is the leg supporting. In order to meet the needs of different height of the crowd, the scalable adjusting organization is designed respectively in the thigh and crus support parts. As shown in Fig.3, thigh support part can form a slider mechanism and the fastening screw have the effect of locking. Crus support components are the same as thighs. Part of thigh and calf are hinged with linear actuator respectively, forming the leg drive mechanism. The using of individual motor makes the speed and position of crus more accurate. The analysis and calculate of the spatial degrees of freedom: W=P λ 3 K Tip: W represents the spatial degrees of freedom. P represents the total number of degrees of freedom of motion pair for space organization. λ represents excess number of degrees of freedom. K represents the number of closed loop. Let P=12, λ=1, K=3, get W= =2. Therefor, ankle joint actuator needs two linear actuators to achieve the movement. The movement of two degrees of freedom can be achieved by controlling the pace of the two linear actuators. 3 The design of the control scheme Fig. 3 Leg telescopic adjusting mechanism. 3.1 The overall implementation plan This scheme is mainly based on single-chip microcomputer controller. And it is divided into the upper machine control system and lower machine control system [4-5]. The upper machine control system is composed of communication module, controller module and data sampling module. The main functions include collecting and analyzing sensor data, comparing with standard curve of human gait and communicating with PC by serial port. Lower machine control system is composed by communication module, D/A conversion module, processor, power converter module, drive and control module [6]. The main functions include

3 Zhao Xiayun et al., The design of exoskeleton lower limbs rehabilitation robot 55 processing the data transmission from the upper machine, amplifying the signal, accomplishing the motor control by driving control circuit of motor control and realizing the control of the sensor by D/A conversion circuit. Sensor signals are collected by the data sampling module which provide feedback, as shown in Fig.5. process return to the start of the main program, as shown in Fig.6. Fig. 6 The gait control flow diagram. 4 Stress and strain analysis Fig. 5 The overall control diagram. 3.2 The gait control process In the gait control process, the current position of mechanism should be determined firstly, and then enter the main program [7]. Detecting of initial state is detected by the speed sensor, displacement sensor and pressure sensor, before the movement of mechanism. Before entering the main program, the rest of the subsystems are idle and then accept the control instruction. Instructions need to handle, storage and send. Until accepting the signal of interrupt, the To verify the strength of the lower limbs rehabilitation facility designed in this paper, using the Simulation Xpress, which is one of the functions in the SolidWorks, making a finite element analysis for the support parts. The results of the analysis are used to improve the parts that yield strength is lower than the stress [8-9]. Exoskeleton type lower limbs rehabilitation facility is mainly composed of the support pedestal of hip joint and support pedestal of knee joint to under load. These key parts directly affect the stability and safety of the whole structure. Therefore, it is necessary to conduct stress analysis and displacement analysis by the finite element analysis method. The results of the analysis are shown in Fig.7 and Fig.8.

4 56 Computer Aided Drafting, Design and Manufacturing (CADDM), Vol.26, No.2, Jun (a) (b) Fig. 7 Stress and strain of support pedestal of hip. (a) Strain of support pedestal of hip; (b) Stress of support pedestal of hip. (a) (b) Fig. 8 Stress and strain of support pedestal of knee. (a) Strain of support pedestal of knee; (b) Stress of support pedestal of knee. Through the analysis of the components of the stress diagram and displacement diagram, the maximum stress of the support pedestal of hip joint is located in the part of hinge joint with value of 30.4 MPa. The maximum stress of the support pedestal of knee joint is located in the connection part with value of 155 MPa. The maximum yield strength of the material selected 45 steel under normal temperature is no less than 355 MPa. As a result, the agency has high security and meet the design requirements. 5 Conclusion This paper describes the design of an exoskeleton lower limbs rehabilitation robot, which satisfies the crowd of lower limbs dysfunction or the need to lower limbs rehabilitation training in the elderly. This paper also applies single-chip microcomputer control technology combined with human gait curve data through real-time analysis of sensors. At the same time, SolidWorks simulation software accomplish finite element analysis of key components. References [1] Li X M, Wang Z X, Zhang S, et al. The Design of multi-function nursing wheelchair [J]. Computer Aided Drafting, Design and Manufacturing (CADDM), 2013, 23(1): [2] Yuan K. Status and trends of intelligent wheelchair [J]. China Medical Devices Information, 2009, 15(1): 6. [3] Zheng Y F, Liu Z Y, Wu Z, et al. Design of lower limbs Powered Exoskeleton [J]. Computer Aided Drafting, Design and Manufacturing (CADDM), 2015, 25(4): [4] Xie H S. The wearable lower limbs rehabilitation exoskeleton kinematic analysis and simulation [D]. Changchun: Changchun University of Science and Technology, [5] Rao L J, Xie L, Zhu X B. Research and design on lower

5 Zhao Xiayun et al., The design of exoskeleton lower limbs rehabilitation robot 57 exoskeleton rehabilitation robot [J]. Machine Design and Research, 2012, 28(3): [6] Wang X F, Li X, Wang J H, et al. Data-driven model-free adaptive sliding mode control for the multi degree-of-freedom robotic exoskeleton [J]. Information Sciences, 2016, 327(C): [7] Zhao C, Wang Z X, Jiang S H, et al. The Design of Wheelchair Lifting Mechanism and Control System [J]. Computer Aided Drafting, Design and Manufacturing (CADDM), 2014, 24(2): [8] Qin H C, Zhao C, Wu B, et al. Nursing bed used in the smart home environment [J]. Computer Aided Drafting, Design and Manufacturing(CADDM), 2013, 23(1): [9] Jiang S H, Fan J, Zhang C, et al. Digital design of multi-functional rehabilitation robot [J]. Computer Aided Drafting, Design and Manufacturing (CADDM), 2015, 25(3): Zhao Xiayun received his B.Eng. degree in Mechanical from Datong University, China, in He is currently a graduate in the Department of Mechanical Engineering at Hefei University of Technology. His research interests include 3D design and analysis electrical control. Wang Zhengxing was born in 1975, and graduated in Zhejiang University of Science and Technology 2001 and is a senior engineer of ZheJiang Henglin Chair Industry Co. Ltd. He present main research interest is mechatronics. Liu Zhengyu was born in 1979,Ph.D candidate in School of Computer and Information at Hefei University of Technology and associate professor in School Machinery and Automobile Engineering. His present research direction is control safety. Zhang Li received her B.Eng. And M.Eng. degrees in Mechanical from Hefei University of Technology, China, in 1982 and 1997, respectively. She is currently a professor of School of Machinery and Automobile Engineering, Hefei University of Technology. Her research interests include electromechanical integration technology, computer aided design and manufacturing.

Finite Element Analysis and Design of Lower Extremity Exoskeleton

Finite Element Analysis and Design of Lower Extremity Exoskeleton Finite Element Analysis and Design of Lower Extremity Exoskeleton Huazeng Hu, Guanghao Zhang, Feng Li College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao

More information

Structural Analysis of Mast of Special Rotary Drilling Rig for Transmission Line

Structural Analysis of Mast of Special Rotary Drilling Rig for Transmission Line 5th International Conference on Advanced Engineering Materials and Technology (AEMT 2015) Structural Analysis of Mast of Special Rotary Drilling Rig for Transmission Line Jian Qin1, a *, Yimin Ma1, b,

More information

A Distributed Control System using CAN bus for an AUV

A Distributed Control System using CAN bus for an AUV International Conference on Information Sciences, Machinery, Materials and Energy (ICISMME 2015) A Distributed Control System using CAN bus for an AUV Wenbao Geng a, Yu Huang b, Peng Lu c No. 710 R&D Institute,

More information

Dynamic Characteristics of the End-effector of a Drilling Robot for Aviation

Dynamic Characteristics of the End-effector of a Drilling Robot for Aviation International Journal of Materials Science and Applications 2018; 7(5): 192-198 http://www.sciencepublishinggroup.com/j/ijmsa doi: 10.11648/j.ijmsa.20180705.14 ISSN: 2327-2635 (Print); ISSN: 2327-2643

More information

u = Open Access Reliability Analysis and Optimization of the Ship Ballast Water System Tang Ming 1, Zhu Fa-xin 2,* and Li Yu-le 2 " ) x # m," > 0

u = Open Access Reliability Analysis and Optimization of the Ship Ballast Water System Tang Ming 1, Zhu Fa-xin 2,* and Li Yu-le 2  ) x # m, > 0 Send Orders for Reprints to reprints@benthamscience.ae 100 The Open Automation and Control Systems Journal, 015, 7, 100-105 Open Access Reliability Analysis and Optimization of the Ship Ballast Water System

More information

Vibration Analysis and Test of Backup Roll in Temper Mill

Vibration Analysis and Test of Backup Roll in Temper Mill Sensors & Transducers 2013 by IFSA http://www.sensorsportal.com Vibration Analysis and Test of Backup Roll in Temper Mill Yuanmin Xie College of Machinery and Automation, Wuhan University of Science and

More information

Body Stabilization of PDW toward Humanoid Walking

Body Stabilization of PDW toward Humanoid Walking Body Stabilization of PDW toward Humanoid Walking Masaki Haruna, Masaki Ogino, Koh Hosoda, Minoru Asada Dept. of Adaptive Machine Systems, Osaka University, Suita, Osaka, 565-0871, Japan ABSTRACT Passive

More information

Journal of Chemical and Pharmaceutical Research, 2016, 8(6): Research Article. Walking Robot Stability Based on Inverted Pendulum Model

Journal of Chemical and Pharmaceutical Research, 2016, 8(6): Research Article. Walking Robot Stability Based on Inverted Pendulum Model Available online www.jocpr.com Journal of Chemical and Pharmaceutical Research, 2016, 8(6):463-467 Research Article ISSN : 0975-7384 CODEN(USA) : JCPRC5 Walking Robot Stability Based on Inverted Pendulum

More information

Simulation of the Hybtor Robot

Simulation of the Hybtor Robot Simulation of the Hybtor Robot Pekka Aarnio, Kari Koskinen and Sami Salmi Information and Computer Systems in Automation Helsinki University of Technology ABSTRACT A dynamic rigid body simulation model

More information

Analysis and realization of synchronized swimming in URWPGSim2D

Analysis and realization of synchronized swimming in URWPGSim2D International Conference on Manufacturing Science and Engineering (ICMSE 2015) Analysis and realization of synchronized swimming in URWPGSim2D Han Lu1, a *, Li Shu-qin2, b * 1 School of computer, Beijing

More information

THE PRESSURE SIGNAL CALIBRATION TECHNOLOGY OF THE COMPREHENSIVE TEST

THE PRESSURE SIGNAL CALIBRATION TECHNOLOGY OF THE COMPREHENSIVE TEST THE PRESSURE SIGNAL CALIBRATION TECHNOLOGY OF THE COMPREHENSIVE TEST SYSTEM Yixiong Xu Mechatronic Engineering, Shanghai University of Engineering Science, Shanghai, China ABSTRACT The pressure signal

More information

Servo-Assisted Lower-Body Exoskeleton With a True Running Gait

Servo-Assisted Lower-Body Exoskeleton With a True Running Gait Servo-Assisted Lower-Body Exoskeleton With a True Running Gait John Dick and Bruce Crapuchettes Applied Motion, Inc. 935 N. Indian Hill Blvd. Claremont, CA 91711 jdick@springwalker.com DARPA Workshop on

More information

Designing Diving Beetle Inspired Underwater Robot(D.BeeBot)

Designing Diving Beetle Inspired Underwater Robot(D.BeeBot) Designing Diving Beetle Inspired Underwater Robot(D.BeeBot) Hee Joong Kim Department of mechatronics engineering Chungnam National University Daejeon, Korea mainkhj@naver.com Jihong Lee Department of mechatronics

More information

Implementation of Height Measurement System Based on Pressure Sensor BMP085

Implementation of Height Measurement System Based on Pressure Sensor BMP085 017 nd International Conference on Test, Measurement and Computational Method (TMCM 017) ISBN: 978-1-60595-465-3 Implementation of Height Measurement System Based on Pressure Sensor BMP085 Gao-ping LIU

More information

Stride October 20, 2017

Stride October 20, 2017 Preliminary Design Review Stride October 20, 2017 Advisor: ProfessorTessier Hollot 1 Advisor : Professor Group Members Richie Hartnett CSE Jarred Penney EE Advisor Prof. Tessier Joe Menzie CSE Jack Higgins

More information

Analysis of Backward Falls Caused by Accelerated Floor Movements Using a Dummy

Analysis of Backward Falls Caused by Accelerated Floor Movements Using a Dummy Original Article Analysis of Backward Falls Caused by Accelerated Floor Movements Using a Dummy Hisao NAGATA 1 * and Hisato OHNO 2 1 National Institute of Occupational Safety and Health, 1 4 6 Umezono,

More information

Design, Fabrication and Analysis of Microcontroller Based Bipedal Walking Robot Vaidyanathan.V.T 1 and Sivaramakrishnan.R 2

Design, Fabrication and Analysis of Microcontroller Based Bipedal Walking Robot Vaidyanathan.V.T 1 and Sivaramakrishnan.R 2 Design, Fabrication and Analysis of Microcontroller Based Bipedal Walking Robot Vaidyanathan.V.T 1 and Sivaramakrishnan.R 2 1, 2 Mechatronics, Department of Production Technology, Madras Institute of Technology,

More information

Written Report of Robot Design

Written Report of Robot Design Written Report of Robot Design Name: Robot Name: Course: Shaojie Ge Four Leg Walking Robot EEL 4665/5666 Intelligent Machines Design Laboratory Instructors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TAs:

More information

ZSTT Team Description Paper for Humanoid size League of Robocup 2017

ZSTT Team Description Paper for Humanoid size League of Robocup 2017 Adult- ZSTT Team Description Paper for Humanoid size League of Robocup 2017 Jaesik Jeong, Youngsup Oh and Jeehyun Yang ZSTT E-mail: soulmatree@gmail.com Web: www.soulmatree.com Abstract. This paper describes

More information

Numerical Simulation of the Basketball Flight Trajectory based on FLUENT Fluid Solid Coupling Mechanics Yanhong Pan

Numerical Simulation of the Basketball Flight Trajectory based on FLUENT Fluid Solid Coupling Mechanics Yanhong Pan Applied Mechanics and Materials Submitted: 2014-08-05 ISSN: 1662-7482, Vols. 651-653, pp 2347-2351 Accepted: 2014-08-06 doi:10.4028/www.scientific.net/amm.651-653.2347 Online: 2014-09-30 2014 Trans Tech

More information

Motion Control of a Bipedal Walking Robot

Motion Control of a Bipedal Walking Robot Motion Control of a Bipedal Walking Robot Lai Wei Ying, Tang Howe Hing, Mohamed bin Hussein Faculty of Mechanical Engineering Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia. Wylai2@live.my

More information

Programming Self-Recovery in the humanoid Leong Ti Xean 1 Yap Kian Tiong 2

Programming Self-Recovery in the humanoid Leong Ti Xean 1 Yap Kian Tiong 2 Programming Self-Recovery in the humanoid Leong Ti Xean 1 Yap Kian Tiong 2 1. INTRODUCTION 1.1 Background In October 2000, Honda announced the ASIMO humanoid robot, capable of interpreting the postures

More information

Emergent walking stop using 3-D ZMP modification criteria map for humanoid robot

Emergent walking stop using 3-D ZMP modification criteria map for humanoid robot 2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007 ThC9.3 Emergent walking stop using 3-D ZMP modification criteria map for humanoid robot Tomohito Takubo, Takeshi

More information

Analysis of the Impact of Rotor Rigidity on the Aerodynamic Performance of Vertical Axis Wind Turbines

Analysis of the Impact of Rotor Rigidity on the Aerodynamic Performance of Vertical Axis Wind Turbines Analysis of the Impact of Rotor Rigidity on the Aerodynamic Performance of Vertical Axis Wind Turbines Ziqin ZHAO, Shangke YUAN School of Civil Engineering, Lanzhou Institute of Technology, Lanzhou, Gansu

More information

Design of control system using electric cylinder for automated measurement of bearing shell crush height

Design of control system using electric cylinder for automated measurement of bearing shell crush height Int J Adv Manuf Technol (2018) 95:983 989 https://doi.org/10.1007/s00170-017-1211-3 ORIGINAL ARTICLE Design of control system using electric cylinder for automated measurement of bearing shell crush height

More information

Design Solutions for Human Legs Motion Assistance Exoskeletons

Design Solutions for Human Legs Motion Assistance Exoskeletons Proceedings of the World Congress on Engineering 28 Vol II WCE 28, July -, 28, London, U.K. Design Solutions for Human Legs Motion Assistance Exoskeletons Ionut Daniel Geonea, Nicolae Dumitru, Paul Rinderu

More information

The Application of ANSYS Contact Analysis in Cable Crane Load Conversion Device

The Application of ANSYS Contact Analysis in Cable Crane Load Conversion Device 2017 2nd International Conference on Mechanical Control and Automation (ICMCA 2017) ISBN: 978-1-60595-460-8 The Application of ANSYS Contact Analysis in Cable Crane Load Conversion Device Yong-shi HU 1,*,

More information

Design and Analysis of Lower Limb Exoskeleton

Design and Analysis of Lower Limb Exoskeleton IJIRST International Journal for Innovative Research in Science & Technology Volume Issue 12 May 2017 ISSN (online): 249-6010 Design and Analysis of Lower Limb Exoskeleton N. Siva Nagamani V. Mohan Srikanth

More information

Modal Analysis of Propulsion Shafting of a 48,000 tons Bulk Carrier

Modal Analysis of Propulsion Shafting of a 48,000 tons Bulk Carrier Modal Analysis of Propulsion Shafting of a 48,000 tons Bulk Carrier Zixin Wang a Dalian Scientific Test and Control Technology Institute. 16 Binhai Street. Dalian, 116013, China. Abstract a wangzixin_1@163.com

More information

YAN GU. Assistant Professor, University of Massachusetts Lowell. Frederick N. Andrews Fellowship, Graduate School, Purdue University ( )

YAN GU. Assistant Professor, University of Massachusetts Lowell. Frederick N. Andrews Fellowship, Graduate School, Purdue University ( ) YAN GU Assistant Professor, University of Massachusetts Lowell CONTACT INFORMATION 31 University Avenue Cumnock 4E Lowell, MA 01854 yan_gu@uml.edu 765-421-5092 http://www.locomotionandcontrolslab.com RESEARCH

More information

Finite Element Modal Analysis of Twin Ball Screw Driving Linear Guide Feed Unit Table

Finite Element Modal Analysis of Twin Ball Screw Driving Linear Guide Feed Unit Table 2016 3 rd International Conference on Mechanical, Industrial, and Manufacturing Engineering (MIME 2016) ISBN: 978-1-60595-313-7 Finite Element Modal Analysis of Twin Ball Screw Driving Linear Guide Feed

More information

Generation of Robot Motion Based on Measurement of Human Movement. Susumu Sakano 1, Satoru Shoji 1

Generation of Robot Motion Based on Measurement of Human Movement. Susumu Sakano 1, Satoru Shoji 1 Generation of Robot Motion Based on Measurement of Human Movement Susumu Sakano 1, Satoru Shoji 1 1College of Engineering, Nihon University 1 Nakagawara Tokusada Tamura-machi Koriyama 963-8642 Japan Tel;

More information

Robot motion by simultaneously wheel and leg propulsion

Robot motion by simultaneously wheel and leg propulsion Robot motion by simultaneously wheel and leg propulsion Aarne Halme, Ilkka Leppänen, Miso Montonen, Sami Ylönen Automation Technology Laboratory Helsinki University of Technology PL 5400, 02015 HUT, Finland

More information

Stress Analysis of Four-Bar Linkage Transfemoral Prosthetic in Gait Cycle

Stress Analysis of Four-Bar Linkage Transfemoral Prosthetic in Gait Cycle Stress Analysis of Four-Bar Linkage Transfemoral Prosthetic in Gait Cycle Sugiyanto 1, B.P. Alhakim, B. Setiana 2, R. Ismail 3 and M. Tauviqirrahman 4 * Department of Mechanical Engineering, Faculty of

More information

67. Sectional normalization and recognization on the PV-Diagram of reciprocating compressor

67. Sectional normalization and recognization on the PV-Diagram of reciprocating compressor 67. Sectional normalization and recognization on the PV-Diagram of reciprocating compressor Jin-dong Wang 1, Yi-qi Gao 2, Hai-yang Zhao 3, Rui Cong 4 School of Mechanical Science and Engineering, Northeast

More information

Research on Key Technologies of Small Underwater Robots

Research on Key Technologies of Small Underwater Robots Research on Key Technologies of Small Underwater Robots Hui ZHANG * 1,2 1 School of Naval Architecture and Ocean Engineering, Zhejiang Ocean University, Zhoushan, Zhejiang, 316100, China 2 Key Laboratory

More information

PropaGator Autonomous Surface Vehicle

PropaGator Autonomous Surface Vehicle PropaGator Autonomous Surface Vehicle Andrew Wegener December 4, 2012 University of Florida Department of Electrical and Computer Engineering EEL 5666C IMDL Final Report Instructors: A. Antonio Arroyo,

More information

A Bio-inspired Behavior Based Bipedal Locomotion Control B4LC Method for Bipedal Upslope Walking

A Bio-inspired Behavior Based Bipedal Locomotion Control B4LC Method for Bipedal Upslope Walking 1 A Bio-inspired Behavior Based Bipedal Locomotion Control B4LC Method for Bipedal Upslope Walking JIE ZHAO, QI LIU, STEFFEN SCHUETZ, and KARSTEN BERNS Robotics Research Lab, University of Kaiserslautern,

More information

Application of pushover analysis in estimating seismic demands for large-span spatial structure

Application of pushover analysis in estimating seismic demands for large-span spatial structure 28 September 2 October 2009, Universidad Politecnica de Valencia, Spain Alberto DOMINGO and Carlos LAZARO (eds.) Application of pushover analysis in estimating seismic demands for large-span spatial structure

More information

Project Title: Pneumatic Exercise Machine

Project Title: Pneumatic Exercise Machine EEL 4924 Electrical Engineering Design (Senior Design) Preliminary Design Report 27 January 2011 Project Title: Pneumatic Exercise Machine Team Members: Name: Gino Tozzi Name: Seok Hyun (John) Yun Email:

More information

Keywords: contra-rotating fan, air pressure, deformation of blades.

Keywords: contra-rotating fan, air pressure, deformation of blades. 2nd International Conference on Machinery, Materials Engineering, Chemical Engineering and Biotechnology (MMECEB 2015) Study on Deformation of the Two Rotors of Contra-Rotating Fan under Variable Speeds

More information

Research on Small Wind Power System Based on H-type Vertical Wind Turbine Rong-Qiang GUAN a, Jing YU b

Research on Small Wind Power System Based on H-type Vertical Wind Turbine Rong-Qiang GUAN a, Jing YU b 06 International Conference on Mechanics Design, Manufacturing and Automation (MDM 06) ISBN: 978--60595-354-0 Research on Small Wind Power System Based on H-type Vertical Wind Turbine Rong-Qiang GUAN a,

More information

Kochi University of Technology Aca Study on Dynamic Analysis and Wea Title stem for Golf Swing Author(s) LI, Zhiwei Citation 高知工科大学, 博士論文. Date of 2015-03 issue URL http://hdl.handle.net/10173/1281 Rights

More information

Ergonomic Handle for a 2DoF Robotic Hand Rehabilitation Device

Ergonomic Handle for a 2DoF Robotic Hand Rehabilitation Device Ergonomic Handle for a 2DoF Robotic Hand Rehabilitation Device Design Team Steven Adams, Kyle Hackmeister Lucas Johnson, Daniel Lau, Nicholas Pappas Design Advisor Prof. Constantinos Mavroidis Co-Advisors

More information

Constant pressure air charging cascade control system based on fuzzy PID controller. Jun Zhao & Zheng Zhang

Constant pressure air charging cascade control system based on fuzzy PID controller. Jun Zhao & Zheng Zhang International Conference on Applied Science and Engineering Innovation (ASEI 2015) Constant pressure air charging cascade control system based on fuzzy PID controller Jun Zhao & Zheng Zhang College of

More information

Dynamically stepping over large obstacle utilizing PSO optimization in the B4LC system

Dynamically stepping over large obstacle utilizing PSO optimization in the B4LC system 1 Dynamically stepping over large obstacle utilizing PSO optimization in the B4LC system QI LIU, JIE ZHAO, KARSTEN BERNS Robotics Research Lab, University of Kaiserslautern, Kaiserslautern, 67655, Germany

More information

siot-shoe: A Smart IoT-shoe for Gait Assistance (Miami University)

siot-shoe: A Smart IoT-shoe for Gait Assistance (Miami University) siot-shoe: A Smart IoT-shoe for Gait Assistance (Miami University) Abstract Mark Sullivan, Casey Knox, Juan Ding Gait analysis through the Internet of Things (IoT) is able to provide an overall assessment

More information

The Effect Analysis of Rudder between X-Form and Cross-Form

The Effect Analysis of Rudder between X-Form and Cross-Form 217 3rd International Conference on Computational Systems and Communications (ICCSC 217) The Effect Analysis of Rudder between X-Form and Cross-Form HAN Zhao-Lin1, a, ZHANG Zhong-Zheng2,b, WANG Long- Jin3,

More information

Numerical simulation of three-dimensional flow field in three-line rollers and four-line rollers compact spinning systems using finite element method

Numerical simulation of three-dimensional flow field in three-line rollers and four-line rollers compact spinning systems using finite element method Indian Journal of Fibre & Textile Research Vol. 42, March 2017, pp. 77-82 Numerical simulation of three-dimensional flow field in three-line rollers and four-line rollers compact spinning systems using

More information

Computer Integrated Manufacturing (PLTW) TEKS/LINKS Student Objectives One Credit

Computer Integrated Manufacturing (PLTW) TEKS/LINKS Student Objectives One Credit Computer Integrated Manufacturing (PLTW) TEKS/LINKS Student Objectives One Credit Suggested Time Ranges First Six Weeks History of Manufacturing PFD 1.1(A) The student will describe why and how manufacturing

More information

Wind turbine Varying blade length with wind speed

Wind turbine Varying blade length with wind speed IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-issn: 2278-1676,p-ISSN: 2320-3331, PP 01-05 www.iosrjournals.org Wind turbine Varying blade length with wind speed Mohammed Ashique

More information

ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots

ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots Jong H. Park School of Mechanical Engineering Hanyang University Seoul, 33-79, Korea email:jong.park@ieee.org Yong K. Rhee School of

More information

The Design of Electrical Putter Car Moving Robots Based on Microcontroller Control Jie TANG and Xiao-min LIU

The Design of Electrical Putter Car Moving Robots Based on Microcontroller Control Jie TANG and Xiao-min LIU 2016 International Conference on Applied Mechanics, Electronics and Mechatronics Engineering (AMEME 2016) ISBN: 978-1-60595-357-1 The Design of Electrical Putter Car Moving Robots Based on Microcontroller

More information

Microprocessor Technology in Ankle Prosthetics

Microprocessor Technology in Ankle Prosthetics Microprocessor Technology in Ankle Prosthetics Arizona State University Dr. Thomas Sugar Former Students LTC Joseph Hitt, PhD Dr. Kevin Hollander Dr. Matthew Holgate Dr. Jeffrey Ward Mr. Alex Boehler Mr.

More information

Vibration measurement method of the ship propulsion shafting

Vibration measurement method of the ship propulsion shafting Vibration measurement method of the ship propulsion shafting Chunlei Zhang Dalian Scientific Test and Control Technology Institute. 16 Binhai Street. Dalian, 116013, China. Abstract zhangchunlei_760@163.com

More information

A Novel Gear-shifting Strategy Used on Smart Bicycles

A Novel Gear-shifting Strategy Used on Smart Bicycles 2012 International Conference on Industrial and Intelligent Information (ICIII 2012) IPCSIT vol.31 (2012) (2012) IACSIT Press, Singapore A Novel Gear-shifting Strategy Used on Smart Bicycles Tsung-Yin

More information

Research on ESC Hydraulic Control Unit Property and Pressure Estimation

Research on ESC Hydraulic Control Unit Property and Pressure Estimation Research on ESC Hydraulic Control Unit Property and Pressure Estimation Liu Wei, Ding Haitao *, and Guo Konghui State Key Libratory of Automobile Dynamic Simulation, Jilin University, Changchun 30025,

More information

Biped Walking Robot Control System Design

Biped Walking Robot Control System Design 69 Biped Walking Robot Control System Design Jian Fang Abstract For biped walking robot posture instability problems presented this paper, ZMP gait planning algorithm and a time division multiplexing servo

More information

Ranger Walking Initiation Stephanie Schneider 5/15/2012 Final Report for Cornell Ranger Research

Ranger Walking Initiation Stephanie Schneider 5/15/2012 Final Report for Cornell Ranger Research 1 Ranger Walking Initiation Stephanie Schneider sns74@cornell.edu 5/15/2012 Final Report for Cornell Ranger Research Abstract I joined the Biorobotics Lab this semester to gain experience with an application

More information

1502. The effect of mechanism design on the performance of a quadruped walking machine

1502. The effect of mechanism design on the performance of a quadruped walking machine 1502. The effect of mechanism design on the performance of a quadruped walking machine Fu-Chen Chen 1, Shang-Chen Wu 2, Yung-Cheng Chen 3 Department of Mechanical Engineering, Kun Shan University, Tainan

More information

PROPOSAL OF FLUID SELF-EXCITED OSCILLATION PECULIAR TO A FLAT RING TUBE AND ITS APPLICATION

PROPOSAL OF FLUID SELF-EXCITED OSCILLATION PECULIAR TO A FLAT RING TUBE AND ITS APPLICATION PROPOSAL OF FLUID SELF-EXCITED OSCILLATION PECULIAR TO A FLAT RING TUBE AND ITS APPLICATION Hideyuki Tsukagoshi 1, Ato Kitagawa, Keisuke Tambo, and Hiyoyuki Chiba ABSTRACT A novel fluid power actuator

More information

Basic Hydraulics. Module 4: Flow Control Valves & Pressure Relief Valves. Academic Services PREPARED BY. January 2012

Basic Hydraulics. Module 4: Flow Control Valves & Pressure Relief Valves. Academic Services PREPARED BY. January 2012 Basic Hydraulics Module 4: Flow Control Valves & Pressure Relief Valves PREPARED BY Academic Services January 2012 Applied Technology High Schools, 2011 ATM 1122 Basic Hydraulics Module 4: Flow control

More information

REPORT DOCUMENTATION PAGE

REPORT DOCUMENTATION PAGE REPORT DOCUMENTATION PAGE Form Approved OMB NO. 0704-0188 The public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions,

More information

DEVELOPMENT OF A FULL-SIZED BIPEDAL HUMANOID ROBOT UTILIZING SPRING ASSISTED PARALLEL FOUR-BAR LINKAGES WITH SYNCHRONIZED ACTUATION

DEVELOPMENT OF A FULL-SIZED BIPEDAL HUMANOID ROBOT UTILIZING SPRING ASSISTED PARALLEL FOUR-BAR LINKAGES WITH SYNCHRONIZED ACTUATION Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011 August 28-31, 2011, Washington, DC, USA DETC2011-4

More information

APPLICATION OF PUSHOVER ANALYSIS ON EARTHQUAKE RESPONSE PREDICATION OF COMPLEX LARGE-SPAN STEEL STRUCTURES

APPLICATION OF PUSHOVER ANALYSIS ON EARTHQUAKE RESPONSE PREDICATION OF COMPLEX LARGE-SPAN STEEL STRUCTURES APPLICATION OF PUSHOVER ANALYSIS ON EARTHQUAKE RESPONSE PREDICATION OF COMPLEX LARGE-SPAN STEEL STRUCTURES J.R. Qian 1 W.J. Zhang 2 and X.D. Ji 3 1 Professor, 3 Postgraduate Student, Key Laboratory for

More information

Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy

Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy Munakata and Wada ROBOMECH Journal (2015) 2:7 DOI 10.1186/s40648-015-0028-9 RESEARCH ARTICLE Open Access Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and

More information

Structural Design and Analysis of the New Mobile Refuge Chamber

Structural Design and Analysis of the New Mobile Refuge Chamber Key Engineering Materials Online: 2013-09-10 ISSN: 1662-9795, Vol. 584, pp 175-178 doi:10.4028/www.scientific.net/kem.584.175 2014 Trans Tech Publications, Switzerland Structural Design and Analysis of

More information

Toward a Human-like Biped Robot with Compliant Legs

Toward a Human-like Biped Robot with Compliant Legs Book Title Book Editors IOS Press, 2003 1 Toward a Human-like Biped Robot with Compliant Legs Fumiya Iida a,b,1, Yohei Minekawa a Juergen Rummel a and Andre Seyfarth a a Locomotion Laboratory, University

More information

Aerodynamic Shape Design of the Bow Network Monitoring Equipment of High-speed Train

Aerodynamic Shape Design of the Bow Network Monitoring Equipment of High-speed Train 2017 2nd International Conference on Industrial Aerodynamics (ICIA 2017) ISBN: 978-1-60595-481-3 Aerodynamic Shape Design of the Bow Network Monitoring Equipment of High-speed Train Wang Zhe and Ji Peng

More information

A Fault Diagnosis Monitoring System of Reciprocating Pump

A Fault Diagnosis Monitoring System of Reciprocating Pump IOSR Journal of Engineering (IOSRJEN) ISSN (e): 2250-3021, ISSN (p): 2278-8719 Vol. 05, Issue 09 (September. 2015), V1 PP 01-06 www.iosrjen.org A Fault Diagnosis Monitoring System of Reciprocating Pump

More information

Gait Analysis of a Little Biped Robot. Received May 2015; accepted July 2015

Gait Analysis of a Little Biped Robot. Received May 2015; accepted July 2015 ICIC Express Letters Part B: Applications ICIC International c216 ISSN 2185-2766 Volume 7, Number 5, May 216 pp. 1 6 Gait Analysis of a Little Biped Robot Chi-Sheng Tsai 1, Chen-Huei Hsieh 1, Wenning QIU

More information

Walking Simulator Mechanism

Walking Simulator Mechanism The Downtown Review Volume 2 Issue 2 Article 4 2015 Walking Simulator Mechanism Titus Lungu Cleveland State University Igor Tachynskyy Cleveland State University Omri Tayyara Cleveland State University

More information

Controlling Walking Behavior of Passive Dynamic Walker utilizing Passive Joint Compliance

Controlling Walking Behavior of Passive Dynamic Walker utilizing Passive Joint Compliance Controlling Walking Behavior of Passive Dynamic Walker utilizing Passive Joint Compliance Takashi TAKUMA, Koh HOSODA Department of Adaptive Machine Systems, Graduate School of Engineering Osaka University

More information

EXPERIMENTAL STUDY OF EXOSKELETON FOR ANKLE AND KNEE JOINT

EXPERIMENTAL STUDY OF EXOSKELETON FOR ANKLE AND KNEE JOINT EXPERIMENTAL STUDY OF EXOSKELETON FOR ANKLE AND KNEE JOINT PROJECT REFERENCE NO. : 37S0925 COLLEGE : NEW HORIZON COLLEGE OF ENGINEERING, BANGALORE BRANCH : MECHANICAL ENGINEERING GUIDES : DR GANESHA PRASAD

More information

*

* Email: * cheekong@krdl.org.sg 336 X. Ma et al. procedures such as stent placement. Commercially available devices are based on the original mechanical design of the Gruentzig s device. Physicians have

More information

Development of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna Comparison between Tuna-type Fin and Rectangular Fin -

Development of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna Comparison between Tuna-type Fin and Rectangular Fin - Development of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna Comparison between Tuna-type Fin and Rectangular Fin - Katsuya KUGAI* Abstract The swimming motion of Tuna type fishes

More information

Optimization of Air compressor Motor speed for Reducing Power Consumption

Optimization of Air compressor Motor speed for Reducing Power Consumption Optimization of Air compressor Motor speed for Reducing Power Consumption Amit Bahekar 1, Dr. Sanjeev Yadav 2 1 Research Scholar, Department of Mechanical Engineering, Sunrise University, Alwar(Raj). 2

More information

A Study on the Eccentric Loading of K Node of Steel Tube Tower

A Study on the Eccentric Loading of K Node of Steel Tube Tower International Conference on Advances in Energy, Environment and Chemical Engineering (AEECE-2015) A Study on the Eccentric Loading of K Node of Steel Tube Tower LIU Haifeng a Wang Fei b Han Junke b Hu

More information

Research of Variable Volume and Gas Injection DC Inverter Air Conditioning Compressor

Research of Variable Volume and Gas Injection DC Inverter Air Conditioning Compressor Purdue University Purdue e-pubs International Compressor Engineering Conference School of Mechanical Engineering 2016 Research of Variable Volume and Gas Inection DC Inverter Air Conditioning Compressor

More information

Code Basic module and level control complete with optionals code

Code Basic module and level control complete with optionals code AUTOMATION AND PROCESS CONTROL MPCT - Modular Process Control Trainer Code 916960 Basic module and level control complete with optionals code 916961-916962-916963-916964-916965 1. General Didacta proposes

More information

Available online at ScienceDirect. Procedia Engineering 112 (2015 )

Available online at  ScienceDirect. Procedia Engineering 112 (2015 ) Available online at www.sciencedirect.com ScienceDirect Procedia Engineering 112 (2015 ) 517 521 7th Asia-Pacific Congress on Sports Technology, APCST 2015 Improvement of crawl stroke for the swimming

More information

EXPERIMENTAL RESEARCH ON DETERMINATION OF DRAG COEFFICIENT OF THE GREENHOUSES LOCATED ON ROOFS OF BUILDINGS

EXPERIMENTAL RESEARCH ON DETERMINATION OF DRAG COEFFICIENT OF THE GREENHOUSES LOCATED ON ROOFS OF BUILDINGS Bulletin of the Transilvania University of Braşov Series II: Forestry Wood Industry Agricultural Food Engineering Vol. 9 (58) No.1-2016 EXPERIMENTAL RESEARCH ON DETERMINATION OF DRAG COEFFICIENT OF THE

More information

A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY

A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY Journal of Sound and Vibration (1998) 17(1), 17 31 Article No. sv981733 A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY S. SUZUKI Department of Mechanical System Engineering, Kitami Institute of

More information

Keywords--Bio-Robots, Walking Robots, Locomotion and Stability Controlled Gait.

Keywords--Bio-Robots, Walking Robots, Locomotion and Stability Controlled Gait. Six Legged Locomotion on Uneven Terrain Kale Aparna S., Salunke Geeta D. kaleaparna5@gmail.com, geetasalunke@gmail.com Abstract -In this paper current state of many walking robots are compared and advantages

More information

PERCEPTIVE ROBOT MOVING IN 3D WORLD. D.E- Okhotsimsky, A.K. Platonov USSR

PERCEPTIVE ROBOT MOVING IN 3D WORLD. D.E- Okhotsimsky, A.K. Platonov USSR PERCEPTIVE ROBOT MOVING IN 3D WORLD D.E- Okhotsimsky, A.K. Platonov USSR Abstract. This paper reflects the state of development of multilevel control algorithms for a six-legged mobile robot. The robot

More information

Stress Analysis of The West -East gas pipeline with Defects Under Thermal Load

Stress Analysis of The West -East gas pipeline with Defects Under Thermal Load Stress Analysis of The West -East gas pipeline with Defects Under Thermal Load Abstract Xu Lei School of Petroleum Engineering, Yangtze University, Wuhan 430000, China 13071247220@163.com Natural gas is

More information

Analysis of Pressure Rise During Internal Arc Faults in Switchgear

Analysis of Pressure Rise During Internal Arc Faults in Switchgear Analysis of Pressure Rise During Internal Arc Faults in Switchgear ASANUMA, Gaku ONCHI, Toshiyuki TOYAMA, Kentaro ABSTRACT Switchgear include devices that play an important role in operations such as electric

More information

C-Brace Orthotronic Mobility System

C-Brace Orthotronic Mobility System C-Brace Orthotronic Mobility System You ll always remember your first step Information for practitioners C-Brace Orthotics reinvented Until now, you and your patients with conditions like incomplete spinal

More information

Decentralized Autonomous Control of a Myriapod Locomotion Robot

Decentralized Autonomous Control of a Myriapod Locomotion Robot Decentralized utonomous Control of a Myriapod Locomotion Robot hmet Onat Sabanci University, Turkey onat@sabanciuniv.edu Kazuo Tsuchiya Kyoto University, Japan tsuchiya@kuaero.kyoto-u.ac.jp Katsuyoshi

More information

Analysis and Research of Mooring System. Jiahui Fan*

Analysis and Research of Mooring System. Jiahui Fan* nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 07) Analysis and Research of Mooring System Jiahui Fan* School of environment, North China Electric

More information

Ecole doctorale SMAER Sciences Mécaniques, Acoustique, Electronique, Robotique

Ecole doctorale SMAER Sciences Mécaniques, Acoustique, Electronique, Robotique Thesis subject 2017 Laboratory : Institut des Systèmes Intelligents et de Robotiques (ISIR) CNRS UMR 7222 University: Université Pierre et Marie Curie Title of the thesis: Development of a Body-Machine-Interface

More information

In this course you will learn the following

In this course you will learn the following Module 11 : Example study of robots Lecture 40 : NATARAJ a case study of a 6-legged robot Objectives In this course you will learn the following Mobile Robots Legged Robots Nataraj Robot Nataraj Development

More information

CSU_Yunlu 2D Soccer Simulation Team Description Paper 2015

CSU_Yunlu 2D Soccer Simulation Team Description Paper 2015 CSU_Yunlu 2D Soccer Simulation Team Description Paper 2015 Tao Huang, Jieli Yin Fu Jiang, Xiaoyong Zhang, Jun Peng School of Information Science and Engineering, Central South University, Changsha, Hunan

More information

DEVELOPMENT AND APPLICATION OF A SIMULATED ALTITUDE CABIN

DEVELOPMENT AND APPLICATION OF A SIMULATED ALTITUDE CABIN DEVELOPMENT AND APPLICATION OF A SIMULATED ALTITUDE CABIN Wei-Ping Li, Yong Wu, Man-Li Zheng, Kai Kang, Shou-Zheng Zhang and Jiang-Ming Yu Shandong Sports Science Center, People s Republic of China The

More information

A Study on the End-Effector Exchange Mechanism of a Space Robot

A Study on the End-Effector Exchange Mechanism of a Space Robot Journal of Mechanics Engineering and Automation 7 (2017) 278-284 doi: 10.17265/2159-5275/2017.05.005 D DAVID PUBLISHING A Study on the End-Effector Exchange Mechanism of a Space Robot Rui Qu 1, Yuto Takei

More information

Compliance for a cross four-bar knee joint

Compliance for a cross four-bar knee joint Compliance for a cross four-bar knee joint Arnaud Hamon, Yannick Aoustin To cite this version: Arnaud Hamon, Yannick Aoustin. Compliance for a cross four-bar knee joint. The 14th International Conference

More information

INDIAN INSTITUTE OF TECHNOLOGY KHARAGPUR NPTEL ONLINE CERTIFICATION COURSE. On Industrial Automation and Control

INDIAN INSTITUTE OF TECHNOLOGY KHARAGPUR NPTEL ONLINE CERTIFICATION COURSE. On Industrial Automation and Control INDIAN INSTITUTE OF TECHNOLOGY KHARAGPUR NPTEL ONLINE CERTIFICATION COURSE On Industrial Automation and Control By Prof. S. Mukhopadhyay Department of Electrical Engineering IIT Kharagpur Topic Lecture

More information

INTERNATIONAL JOURNAL OF PURE AND APPLIED RESEARCH IN ENGINEERING AND TECHNOLOGY

INTERNATIONAL JOURNAL OF PURE AND APPLIED RESEARCH IN ENGINEERING AND TECHNOLOGY INTERNATIONAL JOURNAL OF PURE AND APPLIED RESEARCH IN ENGINEERING AND TECHNOLOGY A PATH FOR HORIZING YOUR INNOVATIVE WORK INTELLIGENT ACTIVE SOFT ORTHOTICS-ANKLE FOOT WRUSHALI S. DHANGE, C. R. PATIL 1.

More information

CHAPTER IV FINITE ELEMENT ANALYSIS OF THE KNEE JOINT WITHOUT A MEDICAL IMPLANT

CHAPTER IV FINITE ELEMENT ANALYSIS OF THE KNEE JOINT WITHOUT A MEDICAL IMPLANT 39 CHAPTER IV FINITE ELEMENT ANALYSIS OF THE KNEE JOINT WITHOUT A MEDICAL IMPLANT 4.1 Modeling in Biomechanics The human body, apart of all its other functions is a mechanical mechanism and a structure,

More information

Wind Tunnel Instrumentation System

Wind Tunnel Instrumentation System Wind Tunnel Instrumentation System Karthigeyan S 1, Jai bhavani K S 2, Jenifer Z 3 P.G Student, Dept. of, Valliammai Engineering College, Chennai, India 1 Assistant Professor, Dept. of, Valliammai Engineering

More information