We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton’s user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

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Категория: Научные статьи | Нет комментариев »

С начала декабря 2003 года перестал отзываться solotrek.com — сайт многострадального летательного аппарата. Казалось бы, вот она, смерть окончательная и бесповоротная. Подтверждением тому грустные хроники SoloTrek XFV. Однако выяснилось, что всё только начинается. С начала.

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Категория: Solotrek XFV | Нет комментариев »

The authors present a novel power supply for mobile robotic systems. A monopropellant (e.g. hydrogen peroxide) decomposes into high temperature gases, which drive a free piston hydraulic pump (FPHP). The elimination of fuel/oxidizer mixing allows the design of simple, lightweight systems capable of operation in oxygen free environments. A thermodynamic analysis has been performed, and an experimental FPHP has been built and tested. The prototype successfully pumped hydraulic fluid, although the flow rate was limited by the off-the-shelf components used.

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В кино робототехнический протез руки, наверное, все видели. Обычно там злодеи такие носят. С крюком на конце. А людей с синтетическими частями тела, это тоже все знают, называют обычно киборгами. А слыхали о человеке, потерявшем правую руку и 10 лет пользовавшемся первой в мире бионической рукой?

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Robotics in rehabilitation provides considerable opportunities to improve the quality of life for persons with disabilities. Computerized and Virtual Environment (VE) training systems for persons with disabilities, many of which utilize the haptic feedback, have gained increasing acceptance in the recent years. Our methodology here is based on creating virtual environments connected to a haptic interface as an input device. This robotic setup introduces the advantages of the haptic rendering features in the environment and also provides tactile feedback to the patients. This thesis aims to demonstrate the efficacy of assistance function algorithms in rehabilitation robotics in virtual environments. Assist functions are used to map limited human input to motions required to perform complex tasks. The purpose is to train individuals in task-oriented applications to insure that they can be incorporated into the workplace. Further, Hidden Markov Model (HMM) based motion recognition and skill learning are used for improving the skill levels of the users. For the Hidden Markov Model based motion recognition, the user’s motion intention is combined with environment information to apply an appropriate assistance function. We used this algorithm to perform a commonly used vocational therapy test referred to as the box and the blocks test. The Hidden Markov Model based skill approach can be used for learning human skill and transferring the skill to persons with disabilities. A relatively complex task of moving along a labyrinth is chosen as the task to be modeled by HMM. This kind of training allows a person with disability to learn the skill and improve it through practice. Its application to motion therapy system using a haptic interface helps in improving their motion control capabilities, tremor reduction and upper limb coordination. The results obtained from all the tests demonstrated that various forms of assistance provided reduced the execution times and increased the motion performance in chosen tasks. Two persons with disabilities volunteered to perform the above tasks and both of the disabled subjects expressed an interest and satisfaction with the philosophy behind these concepts.

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