Locomotor function is often limited following a neurological injury, although the underlying mechanisms are not always clear. While walking appears to be a complex task from a neural control perspective, many aspects of gait may be predicted simply from the passive mechanics of the body, the focus of a field commonly termed dynamic walking.

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Abstract—A recent trend in virtual environments aims at making the user free of devices or limitations in its motion, at the benefit of immersiveness and interactivity. This work introduces an interaction paradigm that goes beyond motion based interaction, by making use of measured real forces exerted by the user in free space. The sensation of touch with virtual object is obtained by vibrotactile stimulation combining virtual contact information with measured forces. In this way the user has an additional dimension of interactivity at the benefit of immersivity, without incurring in the reduction of sense of presence introduced by grounded haptic interfaces. This paradigm is presented and discussed in particular in the context of a boxing training simulation, as one of the possible application scenarios.

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EXOSTATION is an ESA-funded project aiming at developing a complete haptic control chain. The demonstrator is composed of a 7-DOF portable arm exoskeleton master, controlling an anthropomorphic slave robot interacting with its working environment. This system is meant to be used in telemanipulation and telepresence modes (master/slave control), making it usable in many applications including space exploration missions (planetary surface exploration and surface habitat construction), medicine, CBRNE crisis management (interventions requiring precise remote manipulation or performed in unstructured environment), industrial environments (remote maintenance).

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Exoskeleton robotic system is a feasible solution that can help people with locomotion difficulties walk again. This system equipped around the human body can support the load and a part of the body weight, enlarging the load-bearing capacity and endurance of the biological system. The corresponding components of the exoskeleton system, such as the power capacitor and transmission, kinematic energy transmission, degrees of freedom of motions and adjustments for different wearers, are of great importance as well as the frame and ergonomic designs. Exoskeleton robots are developed in many countries, including the US, Japan, South Korea and Israel, etc. They are oriented into different usages – both military and medical devices. University of Tsukuba proposed a commercial exoskeleton robot, Hybrid Assistive Limb, for patient walking and stair-climbing assistances. US Defense Advanced Research Projects Agency (DARPA) supported a multi-million project in “Exoskeletons for Human Performance Augmentation” and help rapid progresses in the researches and developments on exoskeleton robot field.

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A rehabilitation supporting device 1 includes a first frame 11 arranged along a first skeletal portion extending from a joint, a second frame 12 arranged along a second skeletal portion extending from the joint in a direction different from a direction of the first skeletal portion, an angle sensor 131 arranged to detect a rotational angle position between the first frame and the second frame, a flexion-side biosignal sensor 14 arranged to detect a biosignal of a flexor, an extension-side biosignal sensor 15 arranged to detect a biosignal of an extensor, a calibration unit 31 arranged to determine a flexion-side correction value and an extension-side correction value individually, and a memory unit 34 arranged to store individual correction values of the biosignals different for individuals, the flexion-side correction value, and the extension-side correction value.

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