This paper presents the design concept for a bio-inspired exoskeleton intended for applications in tele-robotics and virtual reality. We based the development on an attentive analysis of the human arm anatomy with the intent to synthesize a system that will be able to interface with the human limb in a natural way. Our main goal is to develop a multi contact-point haptic interface that does not restrict the arm mobility and therefore increases the operational workspace. We propose a simplified kinematic model of the human arm using a notation coming from the robotics field. To figure out the best kinematic architecture we employed real movement data, measured from a human subject, and integrated them with the kinematic model of the exoskeleton. This allows us to test the system before its construction and to formalize specific requirements. We also implemented and tested a first passive version of the shoulder joint.

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Категория: Научные статьи | Нет комментариев »

Driven by performance demands and energy-efficiency requirements, computa-tional systems of the future will most likely be composed of many heterogeneous processing units. In these systems, only a small set of workloads can benefit from a custom functional unit. FPGA-like reconfigurable architectures have the ability to adapt and, thereby, meet the specific computational needs of a wider range of workloads. As current research efforts make these devices more accessible to application develo-pers, we expect these devices to find a place in the computational paradigm in many different domains, integrated in a variety of different ways. Hence, to cover the wide range of possibilities, we need tools that automate the process of selecting, retargeting and executing parts of an application on these recon-figurable devices. Furthermore, there is also a need for domain specific customization of the reconfigu-rable fabric, which will help to maximize the benefits from reconfigurability.

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Категория: Научные статьи | 1 Комментарий »

Когда скульптор из Сиэтла Ким Грэхем (Kim Graham) сделала механические «звериные» конечности продолжением собственных ног, она никак не ожидала, что её «продукт» может пользоваться маломальским спросом. Теперь же художница налаживает серийное производство, а потенциальные покупатели стоят в двухмесячной очереди.

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Категория: Юмор | 1 Комментарий »

A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical (3RPS) parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoul-der 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master- lave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.

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Всё что пока удалось найти по данному прототипу экзоскелета.
университет Tokyo University of Science
подразделение Kobayashi Lab

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Категория: Muscle Suit 2009 | Нет комментариев »