Ankle-Foot-Orthosis “Hermes” Compensates Pathological Ankle Stiffness of Chronic Stroke—A Proof of Concept

Individuals with an upper motor neuron syndrome, e.g., stroke survivors, may have a pathological increase of passive ankle stiffness due to spasticity, that impairs ankle function and activities such as walking. To improve mobility, walking aids such as ankle-foot orthoses and orthopaedic shoes are prescribed. However, these walking aids...

Modelling and simulation of a manipulator joint

A substantial part of current research in robotics and automation is focussed on space robots and manipulators. In this research there is an increasing demand of simulation facilities. Test rigs of space robots/manipulators are usually very complex and expensive. In this report, a generic joint model is developed for the simulation facility of...

On fictitious joints modelling of manipulator link flexibility for the HERA simulation facility pilot

The mathematical model for the dynamics of HERA must take into account structural flexibility in the slender manipulator links. For the HERA Simulation Facility Pilot, the model will contain one bending mode in each bending plane, and one torsion mode. The present document describes how this model can be simulated with rigid body simulation...

Accuracy of modal frequency set with fictitious joints modelling

If one wishes to simulate the djmamics of a structurally flexible, mechanical system with the aid of rigid body software, one may be tempted to use the "fictitious joints" modelling technique recently advocated In literature. The technique is believed to be promising in the case of flexible, slender beams, such as some of the links of a space...