Searched for: subject:"Locomotion"
(1 - 20 of 21)

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Meijneke, C. (author), van Oort, G. (author), Sluiter, V. (author), van Asseldonk, E. (author), Tagliamonte, N. L. (author), Tamburella, F. (author), Pisotta, I. (author), Masciullo, M. (author), Arquilla, M. (author), Molinari, M. (author), Wu, A. R. (author), Dzeladini, F. (author), Ijspeert, A. J. (author), van der Kooij, H. (author)
In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be personalized to accommodate differences in impairments among individuals with spinal cord...
journal article 2021
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van Diggelen, Fuda (author)
This thesis is motivated by evolutionary robot systems where robot bodies and brains evolve simultaneously. In such a robot system, `birth' must be followed by `infant learning' by a learning method that works for various morphologies evolution may produce. Here we address the task of directed locomotion in modular robots with controllers based...
master thesis 2020
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Liang, Hongqin (author), Liu, Pengfei (author), Wang, Tianlong (author), Wang, Haoyu (author), Zhang, Kailong (author), Cao, Yunqiang (author), An, Dong (author)
For a heavy-haul locomotive within a wheel repairing period, wheel polygonal wear with different operating mileages is obtained by field testing. The test results show that the maximum radial runout of the wheel can increase to 0.87 mm and accompany with the typical damage of wheel tread shelling. Taking the wheel polygons as input excitation...
journal article 2020
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Apte, S. (author), Plooij, M.C. (author), Vallery, H. (author)
BACKGROUND: Gait training with partial body weight support (BWS) has become an established rehabilitation technique. Besides passive unloading mechanisms such as springs or counterweights, also active systems that allow rendering constant or modulated vertical forces have been proposed. However, only pilot studies have been conducted to...
journal article 2020
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van den Broek, Maarten (author)
Bipedal running gaits may be self-stable if they rely on the intrinsic system dynamics to attenuate deviations. This use of passive dynamics for gait stability has been observed in biological running and applied for running robotics, supported with the results of numerical simulations. It is an important aspect of the development of fast and...
master thesis 2019
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van der Geer, Cees (author)
This report presents the design of a 2-DOF compliant mechanism, capable of describing a closed spatial surface. The mechanism is designed with the intended application as leg in an omnidirectional walking machine. Therefore, a conceptual design of a way of coupling a multitude of these mechanisms is also presented. By means of a kinematic...
master thesis 2019
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Bonnier, Maxime (author)
Rail vehicle valuation is traditionally performed by taking the book value of a vehicle, complemented with a deviation factor for technical characteristics and condition based on the experience of an appraiser. This process is costly and time-consuming for large and/or spread-out fleets and creates financial risks for all parties involved in the...
master thesis 2019
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Wyss, Dario (author), Pennycott, Andrew (author), Bartenbach, Paul (author), Riener, Robert (author), Vallery, H. (author)
Series Elastic Actuation decouples actuator inertia from the interaction ports and is thus advantageous for force-controlled devices. Parallel or even passive compliance can fulfill a complementary role by compensating for gravitational or periodic inertial forces or by providing passive guidance. Here, these concepts are combined in an...
journal article 2019
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Miog, Jeffrey (author)
This report covers the development of the Locomotion system for the Lunar Zebro that is responsible for the positioning control of the six legs and the operating of the solar panel. It covers the initial problem analysis, requirement discovery, conceptual design, part identification for implementation, implementation and the first tests, their...
master thesis 2018
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Kinkelaar, Laurens (author)
The ZeBRo (Dutch abbreviation: Zesbenige Robot, six-legged robot), is a walking robot designed by the TU Delft, with its foundations on the RHex. The current version of the ZeBRo project, the DeciZebro, is made for the research to swarming in robotics, and is about the size of an A4-paper. <br/>To counter these shortcomings of CPG (a method to...
master thesis 2018
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Tournois, G.A. (author)
Tensegrity robots are researched for robotic locomotion, as they have remarkable properties which makes them well suited for physical interaction with unknown and unstructured environments. So far, locomotion on rough terrain has not been demonstrate, but only on flat and moderately hilly terrain. Moreover, research merely focuses on rolling and...
master thesis 2017
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Forbes, P.A. (author), Vlutters, M (author), Dakin, CJ (author), van der Kooij, H. (author), Blouin, JS (author), Schouten, A.C. (author)
During walking, the vestibular influence on locomotor activity is phase-dependent and modulated in both limbs with changes in velocity. It is unclear, however, whether this bilateral modulation is due to a coordinated mechanism between both limbs or instead through limb-specific processes that remain masked by the symmetric nature of locomotion....
journal article 2017
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Wu, Amy R. (author), Dzeladini, Florin (author), Brug, Tycho J.H. (author), Tamburella, Federica (author), Tagliamonte, Nevio L. (author), Van Asseldonk, Edwin H.F. (author), van der Kooij, H. (author), Ijspeert, Auke J. (author)
Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel,...
journal article 2017
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von Zitzewitz, J (author), Asboth, L (author), Fumeaux, N (author), Hasse, N (author), Baud, L (author), Vallery, H. (author), Courtine, G (author)
Objectives. We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. Approach. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective...
journal article 2016
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Kersbergen, B. (author)
The operation of many systems can be described by the timing of events. When the system behavior can be described by equations that are "linear'' in the max-plus algebra, which has maximization and addition as its basic operations, the system is called a max-plus-linear system. In many of these systems the order of the events may need to be...
doctoral thesis 2015
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Lensink, R.A. (author)
In multi-legged robots, such as the Zebro robot from TU Delft Robotics Institute, locomotion can be addressed as a Max-Plus Linear (MPL) system. In such MPL systems the gait is generated and controlled by abstracting the continuous motion of the legs to the occurrences of discrete touch-down and lift-off events, which are subsequently described...
master thesis 2015
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Tucker, M.R. (author), Olivier, J. (author), Pagel, A. (author), Bleuler, H. (author), Bouri, M. (author), Lambercy, O. (author), Del R Millan, J. (author), Riener, R. (author), Vallery, H. (author), Gassert, R. (author)
Technological advancements have led to the development of numerous wearable robotic devices for the physical assistance and restoration of human locomotion. While many challenges remain with respect to the mechanical design of such devices, it is at least equally challenging and important to develop strategies to control them in concert with the...
journal article 2015
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Novati, G. (author)
We developed bio-inspired reduced-order models of swimmers, consisting of a self-propelling pair of rotating cylinders. The aim of the project is twofold. First, simplified and non-deforming geometries can more easily be employed in small-scale robotic applications to solve relevant engineering problems. Second, they can serve as reduced physics...
master thesis 2014
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Wagner, J. (author), Solis-Escalante, T. (author), Scherer, R. (author), Neuper, C. (author), Müller-Putz, G. (author)
Voluntary drive is crucial for motor learning, therefore we are interested in the role that motor planning plays in gait movements. In this study we examined the impact of an interactive Virtual Environment (VE) feedback task on the EEG patterns during robot assisted walking. We compared walking in the VE modality to two control conditions:...
journal article 2014
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Meuleman, J.H. (author), Van Asseldonk, E.H.F. (author), Van der Kooij, H. (author)
Background Gait training robots should display a minimum added inertia in order to allow normal walking. The effect of inertias in specific directions is yet unknown. We set up two experiments to assess the effect of inertia in anteroposterior (AP) direction to the ankle and AP and mediolateral (ML) direction to the pelvis. Methods We developed...
journal article 2013
Searched for: subject:"Locomotion"
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