Actuation, Control and Environment Setup for a bi-joint hydro-muscle driven leg structure

About 74 million of the world population needs assistive leg devices on daily basis on account of some form of disability. Although the standard wheelchairs perform well on level ground terrains but they prove ineffective on soft ground and in crossing large obstacles. For dealing with the advance challenges of navigating the human environment a biped walker seems to a more suitable choice. The research presented here is focused on building and actuating a two-joint leg structure that is an integral part of ongoing leg-chair project in Popovic Labs. The project provides a proof of concept that how the synthetic hydro muscles (also developed by Popovic Labs) can be used for the control of large artificial limb joints. Here we discuss the designing, testing and corresponding refining of electronics design, actuation and control of the bi-joint hydro muscle actuated leg structure .We will also elaborate on the requirements, design, problems and refinement of some of the important mechanical components like Coupler/Decoupler and Force Multipliers

Development of a Wearable Mechatronic Elbow Brace for Postoperative Motion Rehabilitation

This thesis describes the development of a wearable mechatronic brace for upper limb rehabilitation that can be used at any stage of motion training after surgical reconstruction of brachial plexus nerves. The results of the mechanical design and the work completed towards finding the best torque transmission system are presented herein. As part of this mechatronic system, a customized control system was designed, tested and modified. The control strategy was improved by replacing a PID controller with a cascade controller. Although the experiments have shown that the proposed device can be successfully used for muscle training, further assessment of the device, with the help of data from the patients with brachial plexus injury (BPI), is required to improve the control strategy. Unique features of this device include the combination of adjustability and modularity, as well as the passive adjustment required to compensate for the carrying angle

A compact ultra-clean system for deploying radioactive sources inside the KamLAND detector

We describe a compact, ultra-clean device used to deploy radioactive sources along the vertical axis of the KamLAND liquid-scintillator neutrino detector for purposes of calibration. The device worked by paying out and reeling in precise lengths of a hanging, small-gauge wire rope (cable); an assortment of interchangeable radioactive sources could be attached to a weight at the end of the cable. All components exposed to the radiopure liquid scintillator were made of chemically compatible UHV-cleaned materials, primarily stainless steel, in order to avoid contaminating or degrading the scintillator. To prevent radon intrusion, the apparatus was enclosed in a hermetically sealed housing inside a glove box, and both volumes were regularly flushed with purified nitrogen gas. An infrared camera attached to the side of the housing permitted real-time visual monitoring of the cable׳s motion, and the system was controlled via a graphical user interface

Sabertooth: A High Mobility Quadrupedal Robot Platform

Team Sabertooth aimed to design and realize an innovative high mobility, quadrupedal robot capable of delivering a payload over terrain impassable by wheeled vehicles at a speed of 5fps. The robot is designed to ascend and descend stairs. The robot uses a spring system in each of its legs for energy efficient locomotion. The 4\u27x3\u27x3\u27 freestanding four legged robot weighs approximately 300lbs with an additional payload capacity of 30lbs. The passive two degree of freedom body joint allows flexibility in terms of robot motion for going around tight corners and ascending stairs. The system integrates sensors for staircase recognition, obstacle avoidance, and distance calculation. A distributed control and software architecture is used for world mapping, path planning and motion control

University of Maryland walking robot: A design project for undergraduate students

The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars

JME 4110: Door Cycling Station

The objective of this project was to design and build a door cycling station to be used for fatigue testing commercial refrigerator doors, including the door gaskets, hinges, and handles. The system must be low maintenance and reliable for at least two million cycles, and it must fit within the provided budget. The design concept includes a rodless pneumatic cylinder and a system of wear-resistant ropes, eyebolts, and pulleys