We have developed a novel device to supply hydraulic power for anaerobic mobile robotic systems. This power source is capable of operation in environments with no oxygen, such as underwater and space. The design, unlike the internal combustion engine, produces power on demand, eliminating idling when there is no load on the system. Steam and oxygen are the only bypro-ducts of this power supply. This monopropellant-powered free piston hydraulic pump (FPHP) was designed as a human scale (1.0 to 3.0 kW) power supply. The FPHP utilizes high concentration hydrogen peroxide, which decomposes into hot gas when exposed to a catalyst, as the monopropellant energy source. Energy is extracted from the hydrogen peroxide and transferred directly to hydraulic fluid by expanding the hot de-composition gas in an integrated piston/cylinder arrangement. Based upon a specific power and specific energy analysis using a Ragone plot, the performance of the FPHP potentially exceeds that of a battery based hydraulic power supply for short operation times.

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We have been developing exoskeleton systems to assist the motion of physically weak NOU US such as elderly, disabled, and injured persons. The proposed exoske-letons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals eontaln very important information, however, it is not very easy to predict the user’s upper-limb motion (elbow and shoulder motion) based on the EMG signals In real-time because of the dimculty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for hu-man upper-limb motion assist considerlug the effect of blarticular muscles.

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.В Беркли по заказу Агентства передовых оборонных исследований США DARPA разработан силовой скафандр, который позволит превратить обычных людей в настоящих силачей и скороходов.

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We are developing exoskeleton robots to realize human shoulder motion assistance for the physically weak. In this paper, we propose controller adjustment for the controller of the exoskeleton robot for human shoulder motion assistance. Motion assistance in the entire movable range of the exoskeleton is realized with a few teaching motion patterns using the proposed controller adjustment. Muscle activity (electromyography) during shoulder motion and motion error between desired user shoulder motion and the measured assisted shoulder motion are evaluated.

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Инженеры из Калифорнийского университета в Беркли разрабатывают гидроусилители ног, которые позволят солдатам без труда совершать длительные марши с тяжелыми рюкзаками за спиной.

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