В конце июля оборонный журнал Defense Week опубликовал рейтинг ста крупнейших производителей вооружений за 2008 год. По оценкам издания, в десятку лидеров по объемам продаж не вошел ни один из российских производителей, а большинство из них утратили свои позиции по сравнению с прошлым годом, хотя прибыль многих предприятий отечественного ОПК выросла.

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Категория: Продвижение | 1 Комментарий »

An exoskeleton interface apparatus includes five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends about rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60). A plurality of idle pulleys (50) is provided, spatially arranged for orienting the tendons (41-44), which brake the free movement of the relative rotational joint, responsive to signals corresponding to constraints on the slave in case of teleoperation or to constraints created by virtual reality systems.

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Robotic rehabilitation and assessment of the human upper-limb following stroke is currently limited in part by the inability of robots to replicate natural motion. In particular, motion of the shoulder girdle is usually neglected, despite the fact that the shoulder girdle is necessary to stabilize and orient the upper-limb during activities of daily living. Without direct control of the shoulder girdle, it is not possible to monitor or prevent a patient from making compensa-tory movements, which inhibits functional recovery, nor is there a means to properly regain strength and coordination. The more the robot is able to realistically mimic upper-limb motion, the more able the robot will be to assist with true functional movement training, which gives the patient the best chance of motor recovery. To address this issue, a new adjustable robotic exoskeleton called MEDARM is proposed for rehabi-litation and assessment of the shoulder complex. MEDARM provides independent control of six degrees of freedom of the upper-limb: two at the sternoclavicular joint, three at the glenohumeral joint and one at the elbow. A key design feature of the new robot is an innovative curved track mechanism actuated by a cable-drive transmission system. To facilitate a performance evaluation of this new mechanism, a planar version of MEDARM was designed. A full prototype of this planar robot was constructed and several fundamen-tal metrics, including friction, inertia, and compliance, were used to test its mechanical performance. Additionally, the functionality of the robot was examined using preliminary data recorded during a stan-dard reaching task, and by implementing some basic rehabilitation algorithms. This thesis describes the design of MEDARM and its planar counterpart in detail and the performance evaluation of the prototype is presented.

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Категория: Научные статьи | 1 Комментарий »

A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

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Robotic exoskeletons are wearable robots coupled to the human body, being the human an integral part of the human-robot system. Specifically, the control plays an important role, and stability must be guarantee. Both actors form a close loop with two control systems interacting dynamically. In this regard, a relevant issue is to understand how humans and robots could physically (kinesthetically) interact and communicate better. This paper deeps in the control of systems interacting dynamically and presents an analytical discussion on the controller design for exoskeletons and the coupled stability problem. Finally, a particular study is described in order to demonstrate the human cognitive system adapting under functional compensation of tremor.

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