Pub Date : 1900-01-01DOI: 10.1504/IJBBR.2013.058734
Ren Shaoyun, Z. Dong, H. Qiu, Liu Zhanyu, Z. Qi
In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.
{"title":"Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics","authors":"Ren Shaoyun, Z. Dong, H. Qiu, Liu Zhanyu, Z. Qi","doi":"10.1504/IJBBR.2013.058734","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058734","url":null,"abstract":"In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126364174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1504/ijbbr.2020.10030379
G. A. Padmanabha, S. T. Ramalingasetty, Boobalan Vetrivel, I. Mukherjee, S. Omkar, R. Sivakumar
{"title":"Computational modelling of musculoskeletal to predict the human response with exoskeleton suit","authors":"G. A. Padmanabha, S. T. Ramalingasetty, Boobalan Vetrivel, I. Mukherjee, S. Omkar, R. Sivakumar","doi":"10.1504/ijbbr.2020.10030379","DOIUrl":"https://doi.org/10.1504/ijbbr.2020.10030379","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128708070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1504/IJBBR.2015.10000401
O. Mazumder, A. S. Kundu, Ritwik Chattaraj, P. Lenka, S. Bhaumik
The aim of this paper is to develop a stable biped model for level ground walking with anthropomorphic parameters. Two models for level ground walking has been simulated and studied, one with active hip joint and the other with ankle impulse. Proposed model is derived from compass gait model with additional torque only at hip joint. Level ground walking has been simulated to find torque requirement and relation between applied torque and angular variation of stance and swing leg. Stability analysis to find disturbance rejection range has also been found. Proposed model serves as a transition from passive walking to energy efficient anthropomorphic walking. Initial stability analysis and model behaviour shows satisfactory results. This concept can be modified towards complete anthropomorphic biped walking by applying minimum possible torque at knee and ankle joint along with hip and also for developing energy efficient active exoskeleton.
{"title":"Towards active walking from compass gait: stability and hip torque requirement for level ground walking","authors":"O. Mazumder, A. S. Kundu, Ritwik Chattaraj, P. Lenka, S. Bhaumik","doi":"10.1504/IJBBR.2015.10000401","DOIUrl":"https://doi.org/10.1504/IJBBR.2015.10000401","url":null,"abstract":"The aim of this paper is to develop a stable biped model for level ground walking with anthropomorphic parameters. Two models for level ground walking has been simulated and studied, one with active hip joint and the other with ankle impulse. Proposed model is derived from compass gait model with additional torque only at hip joint. Level ground walking has been simulated to find torque requirement and relation between applied torque and angular variation of stance and swing leg. Stability analysis to find disturbance rejection range has also been found. Proposed model serves as a transition from passive walking to energy efficient anthropomorphic walking. Initial stability analysis and model behaviour shows satisfactory results. This concept can be modified towards complete anthropomorphic biped walking by applying minimum possible torque at knee and ankle joint along with hip and also for developing energy efficient active exoskeleton.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121808654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1504/IJBBR.2013.058718
J. Chu, Yanhuo Zou, P. He
A method has been proposed for structural synthesis of the planar 10-link, 3-DOF simple and multiple joint kinematic chains in this paper. The procedure for structural synthesis of the kinematic chains is obtained by applying the single-kinematic-chain (SKC) adding theory with the help of double-colour-topological-graph (DCTG) model representation. The mean feature of this method is that a multiple joint kinematic chain with L independent loops can be formed by subsequently adding single-open-chain (SOC) on a single-closed-chain (SCC) with three adding styles. By this method, the structures of all the 10-link, 3-DOF simple and multiple joint kinematic chains have been synthesised by computer.
{"title":"The structural synthesis of planar 10-link, 3-DOF simple and multiple joint kinematic chains","authors":"J. Chu, Yanhuo Zou, P. He","doi":"10.1504/IJBBR.2013.058718","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058718","url":null,"abstract":"A method has been proposed for structural synthesis of the planar 10-link, 3-DOF simple and multiple joint kinematic chains in this paper. The procedure for structural synthesis of the kinematic chains is obtained by applying the single-kinematic-chain (SKC) adding theory with the help of double-colour-topological-graph (DCTG) model representation. The mean feature of this method is that a multiple joint kinematic chain with L independent loops can be formed by subsequently adding single-open-chain (SOC) on a single-closed-chain (SCC) with three adding styles. By this method, the structures of all the 10-link, 3-DOF simple and multiple joint kinematic chains have been synthesised by computer.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124449461","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1504/ijbbr.2022.10052559
T. Giffney, Yuting Zhu
{"title":"A review of shear/slip sensor for improving robotic and human dexterity","authors":"T. Giffney, Yuting Zhu","doi":"10.1504/ijbbr.2022.10052559","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10052559","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1504/IJBBR.2013.058742
Jasvinder A. Singh, J. Potgieter, Weiliang Xu
This paper presents and discusses the design of a novel fibre optic force sensor which will be embedded within the needle. This sensor will provide information on lateral and axial forces acting on the needle. The proposed design is amalgamation of two technologies and uses both Fabry Perot interferometer and fibre brags grating.
{"title":"Fibre optic force sensor for flexible bevel tip needles in minimally invasive surgeries","authors":"Jasvinder A. Singh, J. Potgieter, Weiliang Xu","doi":"10.1504/IJBBR.2013.058742","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058742","url":null,"abstract":"This paper presents and discusses the design of a novel fibre optic force sensor which will be embedded within the needle. This sensor will provide information on lateral and axial forces acting on the needle. The proposed design is amalgamation of two technologies and uses both Fabry Perot interferometer and fibre brags grating.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129852540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Evaluating the Brightness Difference of Drivers Visual Adaptation between road and HMI Using Consensus Model and PSO Algorithm","authors":"Zhijie Xia, Wenyu Wu, Zhisheng Zhang, Dihui Chu, Fangzhou Dong","doi":"10.1504/ijbbr.2022.10054114","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10054114","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128579677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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