In a long-term project, we are designing a robot to provide assistance to patients with walking disabilities by manipulating the flow of water in an underwater treadmill to enable the patients to follow a desired walking trajectory. In this video, we show this concept using a double pendulum. A cylinder forced to rotate upstream the double pendulum controls the shedding frequency and strength of the vortices that interact with the double pendulum. These vortices then interact with a hydrofoil that is attached to the double pendulum and produce trajectories very similar to the human walking gait trajectories.
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