7-DOF horseback riding simulator based on a crank mechanism with variable radius and its inverse kinematics solution

Kwon, Oh‐Wook; Yang, Jeong-Yean; Lim, Chan-Soon; Kwon, Dong‐Soo

doi:10.1109/aim.2014.6878079

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…For generating six DOF movement, seven actuaors are used and each of them are desgined for harmonics generation in the previous research [5,6]. As mentioned above, a crank-and-slider generates simple harmonic motion and the mechanism is desgined for the targeted simulation environments.…”

Section: Harmonics-based Simulator Designmentioning

confidence: 99%

Harmonic Motion-based Simulator Design for Multipurpose Sports Simulation

Yang¹

2015

International journal of advanced smart convergence

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Section: Harmonics-based Simulator Designmentioning

confidence: 99%

Harmonic Motion-based Simulator Design for Multipurpose Sports Simulation

Yang¹

2015

International journal of advanced smart convergence

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“…Nevertheless, there are some studies focusing on the description and assessment of horse motions and the development of riding simulators. The authors of [24] developed a robotic riding simulator where the riding motion is modeled as periodic sinusoidal signals that have dominant up-and-down motions with two, three and four beats. In [14] the dynamics of the horseback during motion is captured by an inertial measurement unit rigidly attached to the saddle.…”

Section: Introductionmentioning

confidence: 99%

Generation of realistic saddle trajectories from captured horseback motion

2020

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Hippotherapy, riding a horse in the context of rehabilitation, is a medical treatment that successfully has been employed in various fields, e.g. for improving locomotion performance of patients with movement disorders. Robotic systems enable the application of hippotherapy in clinical environments with additional benefits, like adjustable speed and high repeatability. Fundamental for a therapy outcome equivalent to classical hippotherapy is that the trajectory of the robotic system is as realistic as possible. This paper introduces a method for the synthesis of horseback motions using motion capture data of various horse gaits. Based on complete gait cycles, an analytical, time-continuous and periodic motion description is constructed. Measured 3D marker positions are reconstructed with a mean error not exceeding 8.6 mm. If the motion capture data of several gait cycles are considered, a more generalized trajectory is generated. An adjustable time dilatation parameter enables the adaptation of the generated motion according to the physical abilities of the patient or the capabilities of the robotic system. This method allows for motion synthesis with arbitrary time span and time resolution, generating realistic trajectories effectively applicable to robotic systems for riding simulation in general and robotic hippotherapy in particular.

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Flywheel-based 2 DOF robotic actuator design for generating harmonic motions

Yang

Kwon

2015

2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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7-DOF horseback riding simulator based on a crank mechanism with variable radius and its inverse kinematics solution

Cited by 4 publications

References 11 publications

Harmonic Motion-based Simulator Design for Multipurpose Sports Simulation

Harmonic Motion-based Simulator Design for Multipurpose Sports Simulation

Generation of realistic saddle trajectories from captured horseback motion

Flywheel-based 2 DOF robotic actuator design for generating harmonic motions

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