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RISOn the Benefits and Limitations of Modulated Damping With Passive Motor Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Conventional emulated damping, in which velocity feedback is employed in combination with motor current control to emulate damping, is used in a number of mechatronic applications. As known in the field, although such ...
Model Based Design of a Low Cost and Compliant Low Profile Prosthetic Foot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes the design of a simple and low-cost compliant low-profile prosthetic foot based on a cantilevered beam of uniform strength. The prosthetic foot is developed such that the maximum stress experienced by ...
Optimal Transmission Ratio Selection for Electric Motor Driven Actuators With Known Output Torque and Motion Trajectories
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a method for selecting the optimal transmission ratio for an electric motor for applications for which the desired torque and motion at the transmission output are known a priori. Representative ...
Variable Geometry Stair Ascent and Descent Controller for a Powered Lower Limb Exoskeleton
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes a control approach for a lower limb exoskeleton intended to enable stair ascent and descent of variable geometry staircases for individuals with paraplegia resulting from spinal cord injury (SCI). To ...