Origami/kirigami, the ancient art of paper folding and cutting techniques, has provided considerable inspiration for structural design routes in the engineering and medical fields over the last few decades. The practicability of the methods and concepts of origami/kirigami has been demonstrated in several emerging classes of technologies, e.g., stretchable electronics, deformable devices, self‐assembly fabrication, etc. More and more related products are produced pursuing a folding form for better storage, deformation capacity, and multifunction realization. Herein, the innovative creased patterns of origami/kirigami designs are distinguished and discussed, and the four most widely used creased pattern types are introduced, which may potentially provide origami/kirigami related inspiration and additional solutions toward many research fields.
Purpose Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is almost no united control strategy that can effectively assist daily walking. This paper aims to propose a hybrid oscillators’ (HOs) model to adapt to irregular gait (IG) patterns (frequent alternation between walking and standing or rapid changing of walking speed, etc.) and generate compliant and no-delay assistive torque. Design/methodology/approach The proposed algorithm, HOs, combines adaptive oscillators (AOs) with phase oscillator through switching assistive mode depending on whether or not the AOs' predicting error of hip joint degree is exceeded our expectation. HOs can compensate for delay by predicting gait phase when in AOs mode. Several treadmill and free walking experiments are designed to test the adaptability and effectiveness of HOs model under IG. Findings The experimental results show that the assistive strategy based on the HOs is effective under IG patterns, and delay is compensated totally under quasiperiodic gait conditions where a smoother human–robot interaction (HRI) force and the reduction of HRI force peak are observed. Delay compensation is found very effective at improving the performance of the assistive exoskeleton. Originality/value A novel algorithm is proposed to improve the adaptability of a walking assist hip exoskeleton in daily walking as well as generate compliant, no-delay assistive torque when converging.
The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.
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