Various embodiments of a biological interface system and related methods are disclosed. The system may comprise a sensor comprising a plurality of electrodes for detecting multicellular signals emanating from one or more living cells of a patient and a processing unit configured to receive the multicellular signals from the sensor and process the multicellular signals to produce a processed signal. The processing unit may be configured to transmit the processed signal to a controlled device that is configured to receive the processed signal. The system is configured to perform an integrated patient training routine to generate one or more system configuration parameters that are used by the processing unit to produce the processed signal.

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Various embodiments of an ambulation system and a movement assist system are disclosed. For example, an ambulation system for a patient may comprise a biological interface apparatus and an ambulation assist apparatus. The biological interface apparatus may comprise a sensor having a plurality of electrodes for detecting multicellular signals, a processing unit configured to receive the multicellular signals from the sensor, process the multicellular signals to produce a processed signal, and transmit the processed signal to a controlled device. The ambulation assist apparatus may comprise a rigid structure configured to provide support between a portion of the patient’s body and a surface. Data may be transferred from the ambulation assist apparatus to the biological interface apparatus.

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The control system for the Berkeley lower extremity exoskeleton (BLEEX) requires ground contact pressure information to operate safely and effectively. Commercially available in-sole sensors do not have sufficient bandwidth, accuracy and reliability for such a system. We have designed and prototyped an in-sole ground contact sensor that uses MEMS pressure transducers placed in an array of hermetically sealed cavities. This system provides a robust method to monitor ground contact pressures.

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Exoskeletons are mechatronic systems worn by a person in such a way that the physical interface permits a direct transfer of mechanical power and exchange of information. These robotic mechanisms have been applied in telemanipulation, man-amplifier, rehabilitation and to assist impaired human motor control. In addition, the neuromotor control research can benefit from anexoskeleton in order to manipulate human arm movements within its natural workspace, which is not possible with traditional robotic manipulandum because of its constraints. The aim of this paper is to describe a set of experiments in motor control and the application of powered upper limb exoskeleton in which the mechanical requirements of the movement will be modified, e.g. removal of the interaction torques in order to identify their impact on the production of complex coordination patterns in healthy subjects with the possibility for a future application to neurologically impaired subjects. As preliminary results, are shown responses to changes in viscosity and inertia when external perturbations (viscous load and inertia) are applied during execution of elbow angular cyclical movements using a robotic exoskeleton.

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The development of innovative exoskeletons for the upper limb requires a strong collaboration between robotics and neuroscience. The robotic system will be deeply coupled to the human user and the exoskeleton design should be based on the human model in terms of biomechanics, and control and learning strategies. This paper presents the preliminary results of the design process of the Neurobotics exoskeleton (NEUROexos). A bioinspired three joints-three links robotic arm is under development for implementing bioinspired control strategies and for obtaining a human-like robotic arm to be used for assessing active exoskeletons in fully safe conditions. In particular, this paper presents the shoulder joint-first link prototype, the selected actuation system, the actuator modelling and identification, and the experimental evaluation of the prototype capability to replicate the human shoulder kinematics during the execution of a catching task.

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