Non-powered, yet active orthosea can be used to control sow d e w s of freedom (e.g., the knee cage provides stability in the lateral direction and allows flexion and extension). Active orthoses can use body pow of joints that are non-paralyzed to drive the paralyzed one. Bodily powered orthoses use the principles and methods described in Section 4.4.1 on bodily powered prosthetics. Externally powered orthoses use actuators to generate joint movement.

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The development of a successful exoskeleton for human performance augmentation (EHPA) will require a multi-disciplinary systems approach based upon sound biome-chanics, power generation and actuation systems, controls technology, and operator interfaces. The ability to integrate key components into a system that enhances performance without impeding operator mobility is essential. The purpose of this study and report are to address the issue of feasibility of building a fieldable EHPA. Previous efforts, while demonstrating progress and enhancing knowledge, have not appro-ached the level required for a fully functional, fieldable system. It is doubtless that the technologies required for a successful exoskeleton have advanced, and some of them significantly. The question to be addressed in this report is have they advanced to the point of making a system feasible in the next three to five years? In this study, the key technologies required to successfully build an exoskeleton have been examined. The primary focus has been on the key technologies of power sources, actuators, and controls. Power sources, including internal combustion engines, fuel cells, batteries, super capacitors, and hybrid sources have been investigated and compared with respect to the exoskeleton application. Both conventional and non-conventional actuator technologies that could impact EHPA have been assessed. In addition to the current state of the art of actuators, the potential for near-term improvements using non-conventional actuators has also been addressed. Controls strategies, and their implication to the design approach, and the exoskeleton to soldier interface have also been investigated. In addition to these key subsystems and technologies, this report addresses technical concepts and issues relating to an integrated design. A recommended approach, based on the results of the study is also presented.

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An exoskeleton device is provided for measuring positions of links and angles of joints of an animate body, where the body comprises a plurality of links joined by intervening joints. The device is affixed at a first mobile terminus of said animate body and a second fixed terminus, having device links displaced from animate links, where the device links are connected by device joints and having sensor means for measuring the angle of the device joints. Using the signals from the sensor means, one can determine the position of the terminal device link and based on knowledge of the animate body structure, calculate the animate angle joints.

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A man-machine interface device is provided which employs rigid links interconnected by measured revolute joints to provide the position of a hand relative to a reference location, such as a desk, keyboard or chair. By proper selection of kinematic structure, and by placing one of the joints near the elbow and extending one of the links along the line of the forearm, translation of the joint-link structure is minimized, hence the undesirable perception of friction and inertia are also minimized. When Hall-Effect sensors are used as the revolute joint goniometers, the permanent magnets of neighboring joints are placed in the same link so the effects of magnetic field interference can be calibrated out. A hand-sensing joint-link device as described herein can produce data which is more noise free, at a higher sample rate, with less latency and more robust that competing electromagnetic, optical and ultrasonic sensing technologies, without adding much encumbrance. The output from the hand-sensing device may be used to produce a graphical «virtual hand» on a computer monitor which mimics the movement of the measured physical hand. The hand-sensing joint-link device may also be used with a finger-sensing joint-link device to provide data on the movements of the fingers and hand. When a right and left finger- and hand-sensing joint-link devices are used, the wearer can use both hands to manipulate virtual objects on a computer monitor.

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RTO is the single focus in NATO for Defence Research and Technology activities. Its mission is to conduct and promote cooperative research and information exchange. The objective is to support the development and effective use of national defence research and technology and to meet the military needs of the Alliance, to maintain a technological lead, and to provide advice to NATO and national decision makers. The RTO performs its mission with the support of an extensive network of national experts. It also ensures effective coordination with other NATO bodies involved in R&T activities. RTO reports both to the Military Committee of NATO and to the Conference of National Armament Directors. It comprises a Research and Technology Board (RTB) as the highest level of national representa-tion and the Research and Technology Agency (RTA), a dedicated staff with its headquarters in Neuilly, near Paris, France. In order to facilitate contacts with the military users and other NATO activities, a small part of the RTA staff is located in NATO Headquarters in Brussels. The Brussels staff also coordinates RTO’s cooperation with nations in Middle and Eastern Europe, to which RTO attaches particular importance especially as working together in the field of research is one of the more promising areas of initial cooperation.

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