Gait Hip¶

Hip joint
Extenion -> Flextion ->

• Initial contact
  -Flextion (30° thigh forward)

• Loading response
  -Function -> maintain hip stability

• Mid stance
  -extention (from 30° flextion to full extention)

• Terminal stance
  -Hyperextension (3°)

• Pre-swing
  -flextion

Brainstorm
ideas that came from google research¶

• Parallel mechanism
  -Description: The Agile Eye is a 3-DOFspherical parallel manipulator developed for the rapid
  orientation of a camera. Its mechanical architecture allows the achievement of high
  operational speeds. The miniature camera attached to the end-effector can be
  pointed in a cone of vision of 140° with ±30° in torsion. Moreover, due to its low
  inertia and its inherent stiffness, the mechanism can achieve angular velocities
  superior to 1000 °/sec and angular accelerations greater than 20000 °/sec2.

  -Link to PDF here

  -Video link you have to search the list for parallel mechanism (agile Eye) here

  -Lisa the Robot a robot done in hannover university here

• We can aslo use a 3 motor system where each of the motor moves in different planes

Our hip joint (Items that are crucial)¶

• 3 motors, to be able to move in 3D
• Has to be strong enough to carry the weight of the leg
• The hip joint does not have to be modular

Picture to our hip joint

Ideas for materials.¶

• Aluminium.
• Stainless.
• Steel.

FRDPRC chart¶

-File here