A new experimental platform permits us to study a novel variety of issues of human motor control, particularly full 3D movements involving the major seven degrees-of-freedom (DOF) of the human arm. We incorporate a seven DOF robot exoskeleton, and minimize weight and inertia through gravity, Coriolis, and inertia compensation, such that subjects’ arm movements are largely unaffected by the manipulandum. Torque perturbations can be individually applied to any or all seven joints of the human arm, thus creating novel dynamic environments, or force fields, for subjects to respond and adapt to. Our first study investigates a joint space force field where the shoulder velocity drives a disturbing force in the elbow joint. Results demonstrate that subjects learn to compensate for the force field within about 100 trials, and, from the strong presence of aftereffects when removing the field in some randomized catch trials, that an inverse dynamics, or internal model, of the force field is formed by the nervous system. Interestingly, while after learning, hand trajectories return to baseline, joint space trajectories remained changed in response to the field, indicating that, besides learning a model of the force field, the nervous system also chose to exploit the space to minimize the effects of the force field on the realization of the endpoint trajectory plan. We discuss applications of these results in the light of current theories of robotic control, including inverse kinematics and optimal control.

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Категория: Научные статьи | Нет комментариев »

This paper describes the concept for a cooperatively controlled combi-nation of Functional Electrical Stimulation (FES) with a motor-driven exoskeleton for gait rehabilitation in hemiplegic patients. The objective is to combine the therapy advantages of FES with a mechanical bracing sys-tem, which provides sufficient stabilization and supports a physiological gait pattern. A multi-layered, swit-ching control architecture based on predictive optimization is designed, which allows the patient to control his movements via an intuitive interface. The benefit of the proposed system is tested and evaluated in real scenarios with patients using a prototype.

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Всё что пока удалось найти по этому прототипу экзоскелета.
университет Tokyo University of Science
подразделение Kobayashi Lab

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Категория: Muscle Suit 2005 | Нет комментариев »

The paper presents the results of a research project aimed at developing an innovative system for modeling industrial products based on haptic technology. The system consists of a Computer Aided Design (CAD) system enhanced with intuitive designer-oriented interaction tools and modalities. The system integrates innovative six degrees of freedom (DOF) haptic tools for modeling digital shapes, with sweep operators applied to class-A surfaces and force computation models based on chip formation models. The system aims at exploiting designers’ existing skills in modeling products, improving the products design process by reducing the necessity of building several physical models for evaluating and testing the product designs. The system requirements have been defined obser-ving designers during their daily work and translating the way they model shapes using hands and craft tools into specifications for the modeling system and the haptic tool. The system prototype has been tested by designers who have found it intuitive and ef-fective to use.

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A load bearing apparatus is presented in the form of a passive exoskeleton whereby a load may be placed on the passive exoskeleton and thereby weight of the load from the passive exoskeleton is transferred to a ground surface. The passive exoskeleton is made of a rigid body member for attaching proximate a portion of a user’s body; a sliding rod attached with the body member; a ground surface engage-able foot analog attached with the sliding rod; a rocker pivotally attached with the body member; a load pin attached with the sliding rod and operably attached with the rocker; and a bias block attached with the body member for engaging with the rocker. As a user walks, the bias block pivots the rocker to aid the load pin in transferring weight to the rocker and thereafter through the sliding rod to the foot analog and ground surface.

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