In the thesis study, it is intended to design and manufacture an anthropomorphic robot head that can resemble human head/neck and eye movements. The designed robot head consists of a 4-DOF neck and a 4-DOF head. The head is composed of 3-DOF eyes and 1-DOF jaw. This work focuses on the head/neck and eyes therefore; the other free to move parts such as eyebrows, eyelids, ears etc. are not implemented. The general kinematic human modeling technique can be applied to facilitate the humanoid robotics design process since human anatomy can be represented as a sequence of rigid bodies connected by joints. In this study, we refer to the anthropometric data in determining the dimensions of all parts in order to have a robot head as human-like as possible. In addition, motion types, motion ranges and their velocities are considered. These factors are of great importance in imitating the human head movements as close as possible. It is intended that the developed humanoid robot head will be used as a research platform in studying fields such as; social interaction between human and robots, artificial intelligence and virtual reality. It will also be an experimental setup to conduct experiments for studying active vision systems.

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Technological advances in robotic hardware and software have enabled powered exoskeletons to move from science fiction to the real world. The objective of this article is to emphasize two main points for future research. First, the design of future devices could be improved by exploiting biomechanical principles of animal locomotion. Two goals in exoskeleton research could particu-larly benefit from additional physiological perspective: 1) reduction in the metabolic energy expenditure of the user while wearing the device, and 2) minimization of the power requirements for actuating the exoskeleton. Second, a reciprocal potential exists for robotic exoskeletons to advance our understanding of human locomotor physiology. Experimental data from humans walking and running with robotic exoskeletons could provide important insight into the metabolic cost of locomotion that is impossible to gain with other methods. Given the mutual benefits of collaboration, it is imperative that engineers and physiolo-gists work together in future studies on robotic exoskeletons for human locomotion.

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The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/reha-bilitation and military applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and, perhaps most critically, safety. This work des-cribes the design, construction and testing of an ultra low-mass, full-body exoskeleton system having seven degrees of freedom (DOFs) for the upper limbs and five degrees of freedom (DOFs) for each of the lower limbs. This low mass is primarily due to the use of a new range of pneumatic muscle actuators as the power source for the system. The work presented will show how the system takes advantage of the inherent control-lable compliance to produce a unit that is powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the user. The general layout of both the upper and the lower body exoskeleton is presented together with results from preliminary experiments to demonstrate the potential of the device in limb retraining, rehabilitation and power assist (augmentation) operations.

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