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Related Experiment Video

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Human balance augmentation via a supernumerary robotic tail.

Sajeeva Abeywardena, Eisa Anwar, Stuart Miller

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |September 10, 2022
    PubMed
    Summary

    A novel robotic tail can stabilize human balance by counteracting forward and backward swaying. This tail design offers potential for aiding individuals with impaired balance control.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Human Augmentation

    Background:

    • Humans exhibit inherent instability during quiet stance, relying on complex neuro-muscular feedback to maintain balance.
    • Postural sway is a characteristic of human balance, influenced by factors like ankle stiffness and neural control.

    Purpose of the Study:

    • To introduce a one-degree-of-freedom supernumerary tail for balance augmentation.
    • To investigate the tail's effectiveness in negating anterior-posterior postural sway in humans.

    Main Methods:

    • Simulations were conducted to evaluate the tail's balancing capabilities.
    • The study analyzed the effects of tail design parameters and control strategies on balance augmentation.

    Main Results:

    • The supernumerary tail successfully balanced a simulated human with impaired ankle stiffness and neural control.
    • Simulations demonstrated the tail's ability to negate anterior-posterior postural sway.

    Conclusions:

    • A tail-based balance augmentation system can effectively enhance human stability.
    • Optimal tail design and adaptive control are crucial for maximizing balance support and minimizing muscular load.