A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash, and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of space and weight limitations, workspace requirements, and the kinematic constraints placed on the device by the human arm. In this paper, the authors present the redesign of an existing five degree-of-freedom haptic arm exoskeleton. The redesign efforts focus primarily on ensuring smooth operation of the exoskeleton’s moving parts to minimize backlash, reducing cost and build time by simplifying the design, and increasing the torque output while continuing to use electric actuators for ease of control. The accompanying computer control system was developed in parallel with the mechanical redesign effort. The newly redesigned exoskeleton presented is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.

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This paper presents a wearable lower extremity exoskeleton (LEE) developed as a platform for research works on enhancement and assistive the ability of human’s walking and load carrying. The whole process of the first prototype design is introduced together with the sub-systems, inner/outer exoskeleton, the attached flexible waist and footpad with sensors. Simulation model and feedback control with the ZMP method were established using Adams and Matlab. The ultimate goal of the current research work is to design and control a power assisted system, which integrates human’s intellect as the control system for manipulating the wearable power-aided device. The feasibility and initial performance of the designed system are also discussed.

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The Berkeley Lower Extremity Exoskeleton is the first functional energetically autonomous load carrying human exoskeleton and was demonstrated at U.C. Berkeley, walking at the average speed of 0.9 m/s (2 mph) while carrying a 34 kg (75 lb) payload. The original published controller, called the BLEEX Sensitivity Amplification Controller, was based on positive feedback and was designed to increase the closed loop system sensitivity to its wearer’s forces and torques without any direct measurement from the wearer. This controller was successful at allowing natural and unobstructed load support for the pilot. This article presents an improved control scheme we call “hybrid” BLEEX control that adds robustness to changing BLEEX backpack payload. The walking gait cycle is divided into stance control and swing control phases. Position control is used for the BLEEX stance leg (including the torso and backpack) and a sensitivity amplification controller is used for the swing leg. The controller is also designed to smoothly transition between these two schemes as the pilot walks. With hybrid control, the controller does not require a good model of the BLEEX torso and payload, which is difficult to obtain and subject to change as payload is added and removed. As a tradeoff, the position control used in this method requires the human to wear seven inclinometers to measure human limb and torso angles. These additional sensors require careful design to securely fasten them to the human and increase the time to don and doff BLEEX.

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Humans are the most advanced creatures of the nature. I believe that humanoid
robots will be the most advanced creatures of humans. Among the man-made creatures
such as automobile, hand-phones and multimedia devices, robots of future will hopefully be
the most ideal assistants to human beings. Robots can live up to this expectation because
future intelligent and autonomous robots could free humans from, or ease them up of, repeatedly undertaking physically and mentally challenging routines. For instance, Robot Doctor could provide medical advices, pre-diagnostic, and even assist in surgical operation; Robot Nurse could assist patients in hospital or at home; Robot Soldier could participate in military intervention, and even fight terrorism; Robot Tutor could help our students to have a better learning experience; Robot Guard could make our society much safer; Robot Maid could keep our house clean and secure, and even help look after elderly
people at home; Robot Rescuer could be deployed to places where human lives are in danger. The list of potential applications with intelligent and autonomous robots is growing.

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Many places in the world are too rugged or enclosed for vehicles to access. Even today, material transport to such areas is limited to manual labor and beasts of burden. Modern advancements in wearable robotics may make those methods obsolete. Lower extremity exoskeletons seek to supplement the intelligence and sensory systems of a human with the significant strength and endurance of a pair of wearable robotic legs that support a payload. This paper outlines the use of Clinical Gait Analysis data as the framework for the design of such a system at UC Berkeley.

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