-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathcomex.html
130 lines (116 loc) · 5.6 KB
/
comex.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="description" content="">
<meta name="author" content="">
<link rel="shortcut icon" href="./assets/ico/favicon.ico">
<title>Jack Doan - Comet Exoskeleton</title>
<link href="./assets/css/bootstrap.css" rel="stylesheet">
</head>
<body role="document">
<div class="navbar navbar-inverse navbar-static-top" role="navigation">
<div class="container">
<div class="navbar-header">
<button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".navbar-collapse">
<span class="sr-only">Toggle navigation</span>
<span class="icon-bar"></span><span class="icon-bar"></span><span class="icon-bar"></span>
</button>
<a class="navbar-brand" href="#">Jack Doan</a>
</div>
<div class="navbar-collapse collapse"><ul class="nav navbar-nav">
<li class="HOME_ACTIVE"><a href="/">Home</a></li>
<li><a href="mailto:[email protected]">Contact</a></li>
<li><a href="/assets/pdf/JackDoanResume.pdf">Resume</a></li>
<li class="dropdown active">
<a href="#" class="dropdown-toggle" data-toggle="dropdown">Projects <b class="caret"></b></a>
<ul class="dropdown-menu">
<li class="dropdown-header">Robotics</li>
<li><a href="/blender.html">The Blender</a></li>
<li><a href="https://www.youtube.com/channel/UClGu04I9xxNYcLN9llDUbRQ">Blender Videos</a></li>
<li><a href="/comex.html">Comet Exoskeleton</a></li>
<li><a href="https://www.youtube.com/channel/UCGCffAhqLlb1pd3oE7YIftg">LocoLab Videos</a></li>
<li class="dropdown-header">Software</li>
<li><a href="https://github.com/JackDoan">GitHub</a></li>
<li><a href="/scpi.html">SCPI Instrumentation</a></li>
<!--<li><a href="./ll120.html">TODO Corsair LL120</a></li>-->
</ul></li>
</ul></div><!--- end nav-collapse -->
</div>
</div>
<div class="container theme-showcase" role="main">
<div class="container">
<!-- Portfolio Item Heading -->
<div class="row">
<div class="col-lg-12">
<h1 class="page-header">Comet Exoskeleton
<small>
<a href="http://www.utdallas.edu/~rgregg/locolab/">
Locomotor Control Systems Laboratory</a> April 2015 - October 2016</small>
</h1>
</div>
</div>
<!-- /.row -->
<!-- Portfolio Item Row -->
<div class="row">
<div class="col-md-8">
<iframe width="700" height="480" src="https://www.youtube.com/embed/3WZDtrtkXXU" frameborder="0" allowfullscreen></iframe>
</div>
<div class="col-md-4">
<h3>Project Description</h3>
<p>
<b>Design and Validation of a Torque Dense, Highly Backdrivable Powered Knee-Ankle Orthosis.</b><br>
H. Zhu, J. Doan, C. Stence, G. Lv, T. Elery, and R. Gregg. Submitted: IEEE Int. Conf. Robotics & Automation, Singapore, 2017.
</p>
<p><b>Abstract: </b>
With an aging population and limited medical resources, a personal mobile lower limb orthosis is desirable for rehabilitation and physical training.
High torque output, backdrivability, torque control, and low weight are generally considered to be the core requirements of a rehabilitation orthosis.
Currently, Series Elastic Actuators (SEA) or harmonic drives are wide applied in lower limb orthoses to address these requirements.
However, they suffer from various limitations, e.g., complex architecture, bulky size, or high cost.
In this paper, a low weight, high torque density, simply-structured knee-ankle orthosis is designed and built.
By using a high torque density motor and a low ratio distributed transmission, the presented orthosis can achieve a peak joint torque output of 60 Newton-meters with a mass of only 4.58 kilograms.
Because the presented orthosis does not use a high ratio transmission, it is intrinsically backdrivable.
A human subject walking test demonstrates that the presented orthosis can produce and control a high torque output at a fast walking speed of 2.7 MPH.
</p>
</div>
</div>
<!-- /.row -->
<div class="row">
<div class="col-lg-12">
<h3 class="page-header">More Photos</h3>
</div>
<div class="col-sm-3 col-xs-6">
<a href=./assets/img/comex_underthehood.jpg>
<img class="img-responsive portfolio-item"
src="./assets/img/comex_underthehood.jpg"
alt="Under the hood">
</a>
</div>
<div class="col-sm-3 col-xs-6">
<a href="./assets/img/comex_exp.jpg">
<img class="img-responsive portfolio-item"
src="./assets/img/comex_exp.small.jpg"
alt="">
</a>
</div>
<!--div class="col-sm-3 col-xs-6">
<img class="img-responsive portfolio-item" src="./assets/img/tooth.small.jpg" alt="Sharp teeth!">
</div>
<div class="col-sm-3 col-xs-6">
<iframe class="img-responsive portfolio-item" src="https://www.youtube.com/embed/videoseries?list=PLJQWpYt7NWVnLrU2mCaQmEghbHQiG0JHi" frameborder="0" allowfullscreen></iframe>
</div-->
</div>
<!-- /.row -->
</div>
<hr><footer>
<div class="row"><div class="col-lg-12">
<p>Copyright © Jack Doan</p>
</div></div></footer>
</div><!-- /.container -->
<!-- Placed at the end of the document so the pages load faster -->
<script src="./assets/js/jquery-3.3.1.slim.min.js"></script>
<script src="./assets/js/bootstrap.min.js"></script>
</body>
</html>