Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior
| العنوان: | Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior |
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| المؤلفون: | Erik Jung, Victoria T. Ly, Mai Linh Ngo, Dennis Castro, Christopher Cheney, Nicholas Cessna, Mircea Teodorescu |
| المصدر: | Applied Sciences Volume 11 Issue 19 Applied Sciences, Vol 11, Iss 9351, p 9351 (2021) |
| بيانات النشر: | Multidisciplinary Digital Publishing Institute, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | musculoskeletal diseases, Technology, Flexibility (anatomy), QH301-705.5, Computer science, QC1-999, Kinematics, Modeling and simulation, Gait (human), bio-inspired robotics, medicine, General Materials Science, musculoskeletal modeling, flexible-robotics, Biology (General), QD1-999, Instrumentation, Simulation, Fluid Flow and Transfer Processes, robotics, business.industry, Physics, Process Chemistry and Technology, General Engineering, Robotics, Bio-inspired robotics, Revolute joint, Engineering (General). Civil engineering (General), Computer Science Applications, Exoskeleton, Chemistry, medicine.anatomical_structure, Artificial intelligence, TA1-2040, business |
| الوصف: | In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in some applications. We propose a tensegrity-inspired robotic manipulator that can replicate the kinematic behavior of the human leg. The design of the hip and knee resembles the musculoskeletal connections within the human body. Our implementation represents muscles, tendons and ligament connections as cables, and bones as rods. This particular design manipulates muscles to replicate a human-like gait, which demonstrates its potential for use as an anatomically correct assistive device (prosthetic, exoskeleton, etc.). Using the OpenSim 3.0 simulation environment, we estimated the kinematics and structural integrity of the proposed flexural joint design and determined the actuation strategies for our prototype. Kinematics for the prototype include the mechanical limitations and constraints derived from the simulations. We compared the simulation, physical prototype, and human leg behaviors for various ranges of motion and demonstrated the potential for using OpenSim 3.0 as a flexible–rigid modeling and simulation environment. |
| وصف الملف: | application/pdf |
| اللغة: | English |
| تدمد: | 2076-3417 |
| DOI: | 10.3390/app11199351 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::dddddfd372a4dfa8160eae261f96f28a |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....dddddfd372a4dfa8160eae261f96f28a |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 20763417 |
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| DOI: | 10.3390/app11199351 |