An Approach of Facilitated Investigation of Active Selfhealing Tension Transmission System Oriented for Legged Robots Selfhealing robotics has been of considerable interest. We believe the function will have a major role in legged robots as a typical highload application of robotics. Some pioneering works have been ongoing on selfhealing soft robots. However, the development of large load selfhealing component and its system integration with a lifesized legged robot is a challenging task. This study is to try the problem by a constructing selfhealing component oriented for facilitated investigation. Proposed part enhances visibility and manufacturing by specializing tension transmission system. The developed module was evaluated by several experiments. First, healing visualization experiment was conducted to evaluate healing progress. In addition, the modulexe2x80x99s strength was tested using a motordriven tendon module previously developed in our laboratory. Results of these experiments suggested that the stirring process have a major role in performing selfhealing behaviour. Finally, we conducted a preliminary experiment on a tendondriven legged robot. The experiment demonstrated that the module functioned in a real robot once.

Coupling Disturbance Compensated MIMO Control of Parallel Ankle Rehabilitation Robot Actuated by Pneumatic Muscles To solve the poor compliance and safety problems in current rehabilitation robots, a novel twodegreesoffreedom (2DOF) soft ankle rehabilitation robot driven by pneumatic muscles (PMs) is presented, taking advantages of the PMxe2x80x99s inherent compliance and the parallel structurexe2x80x99s high stiffness and payload capacity. However, the PMxe2x80x99s nonlinear, timevarying and hysteresis characteristics, and the coupling interference from parallel structure, as well as the unpredicted disturbance caused by arbitrary human behavior all raise difficulties in achieving highprecision control of the robot. In this paper, a multiinputmultioutput disturbance compensated sliding mode controller (MIMODCSMC) is proposed to tackle these problems. The proposed control method can tackle the unmodeled uncertainties and the coupling interference existed in multiple PMsxe2x80x99 synchronous movement, even with the subjectxe2x80x99s participation. Experiment results on a healthy subject confirmed that the PMsactuated ankle rehabilitation robot controlled by the proposed MIMODCSMC is able to assist patients to perform highaccuracy rehabilitation tasks by tracking the desired trajectory in a compliant manner.