about translation!
Original Text:The implementation of this degree of freedom includes an additional angular sensing element to measure the deflection of the transmission both to provide accurate measurements of foot position to the system as well as to provide a measurement of foot force.
My translation:为实现该自由度我们使用了一个附加角度敏感器测量传输装置的偏向角度以保证对足部相对于系统的位置测量的准确性以及对足部力的测量。
Hope some one can help me modify it~
Hope we can make friends through learning english.full paragraph:
Hip abductor/adductor actuation: Design of the other leg
actuator faced a similar challenge of needing to generate high
forces during stance to ensure adhesion yet also needing to
produce fast leg/foot motion during flight. Unfortunately the
uncertainty about the location of the pole relative to the robot
body makes a fixed kinematic solution, such as was used for
the traction degree of freedom, unworkable. To overcome this
we have chosen to make use of a force responsive variable
transmission system modeled after the one described in [16].
The transmission, shown schematically in Fig. 5, utilizes a
compliant element within the four-bar structure to effect a
nearly 2:1 change in the transmission ratio of the linkage as a
function of foot force. This “automatic gear shift” effectively
doubles the available force which the robot can apply to
squeeze the pole, ensuring ample normal force at the contact
point in order to avoid slipping. Furthermore this mechanism
acts as a series compliance for the abduction/adduction degree
of freedom, and protects the transmission elements and
motors from shock loads associated with rapid touchdown
of a foot. The implementation of this degree of freedom
includes an additional angular sensing element to measure
the deflection of the transmission both to provide accurate
measurements of foot position to the system as well as to
provide a measurement of foot force.