Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.

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По удельной мощности и быстроте действия мышцы человека превосходят традиционные электрические или пневматические приводы для роботов. В попытке найти ненадёжным узлам замену учёные придумывают самые необычные типы искусственных мышц.

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Being a young discipline, Biomedical Engineering (BME) offers too few good textbooks for undergraduates. Moreover, in some of the available undergraduate BME textbooks, the levels of mathematics and engineering science were compromised in favor of a more qualitative approach. I was therefore happy to discover that in the recent title by Ritter et al., there is not only in-breadth overview on current BME fields, but also, in-depth analysis of specific selected topics that are supported by appropriate mathematical models, equations, quantitative data charts and tables. This indicates, however, that this book is intended for BME undergraduates at the sophomore, junior or senior years (but not for freshmen). Specifically, to work with this textbook, a student should have already learned calcu-lus, differential and integral equations, and basic engineering courses such as statics, dynamics, solid and fluid mechanics and analog electrical circuits. It should be acknowledged that the authors provide overviews on some of these topics where relevant.

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