A method for controlling movement using an active powered device including an actuator, joint position sensor, muscle stress sensor, and control system. The device provides primarily muscle support although it is capable of additionally providing joint support (hence the name “active muscle assistance device”). The device is designed for operation in several modes to provide either assistance or resistance to a muscle for the purpose of enhancing mobility, preventing injury, or building muscle strength. The device is designed to operate autonomously or coupled with other like device(s) to provide simultaneous assistance or resistance to multiple muscles.

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A combined 450,000 Americans suffer from multiple sclerosis, chronic carpal tunnel syndrome, and muscular dystrophy; debilitative disorders that result in a loss of muscle strength and dexterity within the afflicted individual. A controlled orthoticexoskeleton presents a solution by amplifying a user’s residual strength to restore precision pinch and/or power grasp motions. In order to optimize system response time and control accuracy, a two-bit binary state control algorithm was designed using LabVIEW v8.5. The states of the control system were refined using positional and object-sensing information supplied via negative feedback from Hall effect angular sensors and force sensing resistors. Forearm EMG was recorded and used to characterize hand strength with and without the mechanical assistance generated from the hand-assistive exoskeleton. The control system was tested using simulated sensor feedback data and has proven to be a robust design. The controller will be integrated with a glove-like, hand-based exoskeleton. The complete system was designed to restore hand functionality through the amplification of precision pinch and/or power grasp.

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Over 450,000 Americans suffer from debilitative disorders resulting in the loss of proper hand function. A lightweight, non-cumbrous, orthotic hand exoskeleton was designed to restore normal pinching and grasping finger motions. Three functional digit mechanisms were designed: a thumb, index, and grouped third digit, comprised of the middle, ring, and small fingers. Each phalange was enclosed by a series of cylindrical aluminum bands connected at the centers of rotation of each joint. Bowden cables were mounted beneath each digit to provide active flexion, mimicking the tendons in the hand. A spring extension mechanism maintained constant tension in the Bowden cables, and during relaxation, returned the actuated digits to a fully extended resting position. Individually controlled actuators mounted on a forearm assembly produced 15 N of tensile force in each cable. The orthotic hand exoskeleton will be integrated with a digital control system currently under development in this laboratory. The complete system was designed to restore hand functionality through the amplification of precision pinch and/or power grasp.

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Успех ведения боевых действий во многом зависит не только от тактики, стратегии, планирования той или иной операции командирами и генералами, но от качеств каждого бойца. Этот вопрос на днях обсуждали в Национальной Академии Науки США (US National Academies of Science, NAS).

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In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and their implementations to improve functionality of a human user.

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