Muscle models are the essential components of any musculoskeletal simulation. In addition, muscle models which are incorporated in neural-based prosthetic and orthotic devices may significantly improve their performance. The aim of the study was to compare the performances of two types of muscle models in terms of predicting the moments developed at the human elbow joint complex based on joint kinematics and neuromuscular activity. The performance evaluation of the muscle models was required to implement them in a powered myosignaldriven exoskeleton (orthotic device). The experimental setup included a passive exoskeleton capable of measuring the joint kinematics and dynamics in addition to the muscle myosignal activity (EMG). Two types of models were developed and analyzed: a Hill-based model and a neural network. The task, which was selected for evaluating the muscle models performance, was the flexion–extension movement of the forearm with a hand-held weight. For this task the muscle model inputs were the normalized neural activation levels of the four main flexor–extensor muscles of the elbow joint, and the elbow joint angle and angular velocity. Using this inputs, the muscle model predicted the moment applied on the elbow joint during the movement. Results indicated a good performance of the Hill model, although the neural network predictions appeared to be superior. Relative advantages and shortcomings of both approaches were presented and discussed.

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An object of the present invention is to provide a walk assisting apparatus which enables persons having walking difficulties due to leg paralysis or other conditions to make the alternate walk improved for unassisted walking. The walk assisting apparatus according to the present invention comprises a left and a right full length leg brace swingably connected to left and right outer coxa links, an inner coxa link interconnecting the insides of the thighs of the left and the right leg supports, a swing center of the inner crotch link substantially coinciding with a swing center of the coxa links, so that the inner coxa link allows the leg supports to make the alternate walk properly.

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An exoskeleton for the support of a patient’s body is jointed opposite the hip and knee articulations, and is provided with a number of small actuators that are designed to move jointed parts of the exoskeleton in accordance with the human gait. A control unit is programmed to control the operation of the actuators so as to impress on the exoskeleton the movements of the human gait. A remote control for operation of the control unit allows the patient to transmit commands to the unit in order to start or stop the lower limbs, as well as to adjust the step speed. An electronic virtual reality unit transmits to the patient, through a special helmet, virtual reality pictures and stimulation interactive with the walking movement that is impressed by the exoskeleton on the patient’s body. A framework can be used to steady and support the person and allow the person to walk at the same time, and has grips having operating push buttons for the remote control unit. Alternatively, a rail is suspended at a distance from the ground higher than human height for supporting and guiding a ball bearing or a slide slidable inside or on the rail. A metal framework is supported by the ball bearing or slide and provided with two suspenders or rods for supporting the exoskeleton of the patient.

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A device operable to supply a force feedback to a physiological unit to besed as an advanced interface for machines and computers, including an exoskeleton which includes kinematic elements articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators controls the degree of tension on traction cables applying a force feedback to the kinematic elements and consequently to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensors for detecting the configuration of the physiological unit and force sensors for measuring the strength of the force locally applied thereto by the actuators controlled by a processing system.

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For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. Such a capability has been the goal of many studies and significant success has been reported in recent years.

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