За последние пять-шесть лет было создано много вариантов интерфейса мозг-компьютер (иллюстрация с сайта bciresearch.org).

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Devices and methods which store and selectively release relatively substantial amounts of energy for enabling individuals to undertake superior performance in locomotion and other physical activities. The different embodiments include a hyperelastic SMA element which stores and releases energy in a differential pulley set, in a hinged knee, and in a pogo stick.

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The IHMC Mobility Assist Exoskeleton is a robotic suit that a user can wear for strength augmentation or gait generation. This first generation exoskeleton prototype focuses on providing walking assistance to persons with lower extremity paralysis. The main goal is to successfully enable a person that cannot walk without assistance to walk in a straight line a distance of 15 feet. When in disable assist mode this prototype will rely on the user to provide balance control, and thus an external means for balancing will be required, such as crutches or a walker. Power and control is off board and supplied to the exoskeleton by means of a tether. Rotary series elastic actuators (RSEAs), which have high force fidelity and low impedance were designed to power the joints. This paper describes the design, test results, future work and potential applications of the exoskeleton.

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The successful motor rehabilitation of stroke, traumatic brain/spinal cord/sport injured patients requires a highly intensive and task-specific therapy based approach. Significant budget, time and logistic constraints limits a direct hand-to-hand therapy approach, so that intelligent assistive machines may offer a solution to promote motor recovery and obtain a better understanding of human motor control. This paper will address the development of a lower limb exoskeleton legs for force augmentation and active assistive walking training. The twin wearable legs are powered by pneumatic muscle actuators (pMAs), an experimental low mass high power to weight and volume actuation system. In addition, the pMA being pneumatic produces a more natural muscle like contact and as such can be considered a soft and biomimetic actuation system. This capacity to «replicate» the function of natural muscle and inherent safety is extremely important when working in close proximity to humans. The integration of the components sections and testing of the performance will also be considered to show how the structure and actuators can be combined to produce the various systems needed for a highly flexible/low weight clinically viable rehabilitation exoskeleton.

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A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer is provided with an action-assist tool 2 having an actuator 201 which gives power to the wearer 1, a biosignal sensor 221 which detects a wearer’s biosignal, a biosignal processing unit 3 which acquires from a biosignal «a» detected by the biosignal sensor a nerve transfer signal «b» for operating a wearer’s muscular line skeletal system, and a myoelectricity signal «c» accompanied with a wearer’s muscular line activity, an optional control unit 4 which generates a command signal «d» for causing the actuator 201 to generate power according to the wearer’s intention using the nerve transfer signal «b» and the myoelectricity signal «c» acquired by the biosignal processing unit 3, and a driving current generating unit 5 which generates a current according to the nerve transfer signal b and a current according to the myoelectricity signal «c», respectively, based on the command signal «d» generated by the optional control unit 4, and supplies the currents to the actuator 201.

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