In this paper, we present a passive device for swing assistance of motor-incomplete spinal cord injury patients. This device is aimed at reducing the physical demands on the therapists during treadmill training. We model the human leg as two links and a point foot mass, with a moving trunk. We employ passive elements in the design which get charged by the treadmill. Using the system dynamics, we optimize the design parameters to obtain a feasible swing motion of the leg. An exoskeleton was constructed based on these design parameters and tests were performed on a healthy subject at different treadmill speeds.

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Категория: Научные статьи | Нет комментариев »

This paper presents a body model of intermediate level of detail to allow prediction of the knee torque produced by thigh muscles based on EMG signals. This torque prediction is used as input for a torque controller that adapts the level of support offered to an operator by a powered leg orthosis. The level of detail of the body model is chosen in such a way, that all parameters of the model can be calibrated for a specific operator with only a few sensors that are mounted on the exoskeleton.

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A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint. The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.

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Данный экзоскелет для верних конечностей не автономен.Весит 3 кг. Работает только с внешним компрессором и системой регулировки воздуха для управления пневматикой.Это означает, что он найдет применение только в стационарных условиях, специально подготовленных помещений.

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Категория: Muscle Suit 2006 | Нет комментариев »

Как отмечают отечественные и зарубежные эксперты, наноэлектромеханические системы (НЭМС) и устройства на их основе уже в ближайшие годы должны стать важнейшими элементами узлов, изделий, образцов, комплексов и систем вооружения и военной техники. Применение НЭМС будет распространяться не только на средства поражения, но и на средства боевого, технического и тылового обеспечения ведения бое-вых действий.

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