this study. As a result, the offered approach presents a comprehensive and efficient model to obtain a clear insight into the power flow between the subsystems included in a flapping robot and provides helpful information for the design of such systems.

SUMMARYAssist-as-needed control is underlain by the aim of replacing skillful therapists with rehabilitation robots. The objective of this research was to introduce a smart assist-as-needed control system for the elderly or partially paralyzed individuals. The main function of the proposed system is to assist the patients just in the required sub phases of the motion. To ensure that a smart and compliant system is developed, the target admittance gains of the controller was adapted according to the concept of energy The admittance gains were modified so that an exoskeleton reduces interaction energy in cases wherein users have sufficient strength for task execution and maximizes the interaction energy in the required subphases. The results of simulations and an experimental investigation on a novel exoskeleton showed that the proposed adaptive admittance control improves performance to a level substantially higher than that achieved with constant impedance control.

No abstract

No abstract

A vector bond graph approach for dynamic modeling of human musculo-skeletal system is addressed in this article. In the proposed model, human body is modeled as a ten-segment, nine degree of freedom, mechanical linkage, actuated by ten muscles in sagittal plane. The head, arm and torso (HAT) are modeled as a single rigid body. Interaction of the feet with the ground is modeled using a spring-damper unit placed under the sole of each foot. The path of each muscle is represented by a straight line. Each actuator is modeled as a three-element, Hill-type muscle in series with tendon. The governing equations of motion generated by the proposed method are equivalent to those developed with more traditional techniques. However the models can be more easily used in conjunction with control models of neuro-muscular function for the simulation of overall dynamic motor performance. In the proposed structure, segments can be easily added or removed. Such a model may have applications in clinical diagnosis and modeling of paraplegic patients during robotic-assisted walking.