48
Biologically Inspired Robotics
Interstice
Sensor
Pedal
VIII
VII
VI
V
IV
III
II
I
Sensor 2
Sensor 1
Sensor 0
Pedal
Interstice
FIGURE 3.14
Arrangement of the sensors and design of the code wheel: for (a) upper limbs and (b) lower
limbs.
shown in Figure 3.14a. The signal is 11 when two hands are pushing or pulling simultaneously.
For the lower limbs, motions such as alternate riding or bionic riding
must be determined, so the position of the pedal crank should be determined accurately. Three sensors for one side have been used and the code
wheel has been designed as shown in Figure 3.14b. Two legs are considered to be synchronous when the phase difference of the legs is less than
45 degrees. Two legs are considered to be alternately riding when the
phase difference of the legs is between 135 and 180 degrees. The corresponding signal for the different places of the pedal crank is shown in
Table 3.2.
According to the arrangement of the sensors and the design of the code
wheel, an algorithm for the determination of exercise motions has been
achieved, and a flowchart on the determination of exercise motions is shown
in Figure 3.15.
Biologically Inspired Robotics
Interstice
Sensor
Pedal
VIII
VII
VI
V
IV
III
II
I
Sensor 2
Sensor 1
Sensor 0
Pedal
Interstice
FIGURE 3.14
Arrangement of the sensors and design of the code wheel: for (a) upper limbs and (b) lower
limbs.
shown in Figure 3.14a. The signal is 11 when two hands are pushing or pulling simultaneously.
For the lower limbs, motions such as alternate riding or bionic riding
must be determined, so the position of the pedal crank should be determined accurately. Three sensors for one side have been used and the code
wheel has been designed as shown in Figure 3.14b. Two legs are considered to be synchronous when the phase difference of the legs is less than
45 degrees. Two legs are considered to be alternately riding when the
phase difference of the legs is between 135 and 180 degrees. The corresponding signal for the different places of the pedal crank is shown in
Table 3.2.
According to the arrangement of the sensors and the design of the code
wheel, an algorithm for the determination of exercise motions has been
achieved, and a flowchart on the determination of exercise motions is shown
in Figure 3.15.