The first energetically autonomous lower extremity exoskeleton capable of carrying a payload has been demonstrated at U.C. Berkeley. This paper summarizes the mechanical design 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 and their ranges of motion are described. Additionally, the significant design aspects of the major BLEEX components are covered.

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This document describes the state of the art in the three main research fields of the project: haptic technology, advanced shape modeling technology and cognitive ergonomics. The present document is the third version of the original document issue which includes an update of state of the art concerning haptic devices and exoskeleton.

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При регистрации как электрофизиологических, так и неэлектрофизиологических параметров человека существует ряд внешних помех, накладывающих ограничения на проектируемые усилители биопотенциалов (УБП). Помехи по их виду, происхождению и влияниюна параметры полезного сигнала можно разделить на аддивные и мультипликативные. Аддивные помехи складываются с полезным сигналом и делятся на синфазные и разностные.

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Powered orthotic devices can be used to restore mobility to the impaired user, and may thereby assist them in daily living tasks. An investigation is performed herein to examine the feasibility of a powered lower-limb orthotic in assisting the sit-to-stand task by 50% of the required torque. Feasibility is considered via simulation. A three-link sit-to-stand model, which is driven by kinematic data, is developed. Models of a Pneumatic Muscle Actuator and a DC motor are used to determine which of the two technologies can make a more appropriate contribution to the sit-to-stand task. Simulation revealed that both the Pneumatic Muscle Actuator and the DC motor are reasonable actuator choices, and neither limited the ability to achieve 50% torque assistance. The ability to assist the task was, however, limited by the ability to derive a control signal for the actuator from the user-orthotic interface. It was concluded that the user-orthotic interface requires further investigation. It was also found that while both actuator technologies are suitable for contributing 50% of the required torque, the Pneumatic Muscle Actuator is preferable due to its ability to scale to greater torques.

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A normal working hand is one of the most important features for independence in an individual’s life. The human dependence on fully functioning hands is highlighted most when these integral tools of the body are hindered in some way. The loss of hand function results in a severe compromise of the ability to feed and care for oneself, and limits one’s participation in work, social and family life (Scott and Peckham 1995). There are many injuries or conditions that can result in the loss of hand function. These include paralysis (from central or peripheral nerve injuries), swelling, joint stiffness, pain, burns, scarring or broken bones. For individuals recovering from such conditions, vigilant, appropriate and effective therapy of the hands can significantly improve the outcome of the healing process and the restoration of hand function (Hunter, Mackin et al. 1995). Prior to the prescription of appropriate therapy, comprehensive assessment of hand condition is necessary. Furthermore, ongoing assessment during the course of the applied therapy can ensure the treatment will continue to be appropriate and provide optimal benefits to the patient. In addition, during the recovery process and where no further improvements can be made to the hand, there are technologies available that can improve and function.

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