This paper presents the design and simulation of a cyclic robot for lower-limb exercise robots. The robot is designed specifically for cyclic motions and the high power nature of lower-limb interaction—as such, it breaks from traditional robotics wisdom by intentionally traveling through singularities and incorporating large inertia. Such attributes lead to explicit design considerations. Results from a simulation show that the specific design requires only a reasonably sized damper and motor.

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This paper presents a dynamic model of a knee joint interacting with a two-link exoskeleton for investigating the effects of different exoskeleton designs on internal joint forces. The closed kinematic chain of the leg and exoskeleton has a significant effect on the joint forces in the knee. A bio-joint model is used to capture this effect by relaxing a commonly made assumption that approximates a knee joint as a perfect engineering pin-joint in exoskeleton design. Based on the knowledge of a knee-joint kinematics, an adaptive knee-joint exoskeleton has been designed by incorporating different kinematic components (such as a pin, slider and cam profile). This design potentially eliminates the negative effects associated with the closed leg/exoskeletonkinematic chain on a human knee. An investigation in the flexion motion of an artificial human knee joint is presented to compare performances of five exoskeleton designs against the case with no exoskeletons. Analytical results that estimate internal forces using the dynamic model (based on the properties of a knee joint) agree well with the experiments. These studies lead to an adaptive mechanism with a slider/cam as an alternative to pin joints for the exoskeleton, and illustrate the application of the model for designing an adaptive mechanism that minimizes internal joint forces due to a human-exoskeleton interaction.

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Техническое задание на выполнение опытно-конструкторских работ (ОКР) по теме:
«Разработка программно – аппаратного комплекса дублирования опорно-двигательного аппарата человека «ПАК Экзоскелетон»

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Появилась информация об открытом конкурсе Министерства образования и науки Российской Федерации на сумму 194.000.000р. направленную на выполнение опытно-конструкторских работ по теме: «Разработка программно – аппаратного комплекса дублирования опорно-двигательного аппарата человека «ПАК Экзоскелетон».

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Shape memory alloy (SMA) actuators are compact and have high force-to-weight ratios, making them strong candidates to actuate robots, exoskeletons, and prosthetics. To optimize speed and energy consumption, SMA actuators have been embedded in an N×N vascular network that can deliver electric and thermofluidic energy to the each actuator. The scalable architecture of the vascular network allows for 2N control devices (valves, transistors) to be shared amongst N² actuators, so that as the number of actuators increases, the number of required control devices scales at a smaller rate. This Network Array Architecture (NAA) allows for each actuator to be controlled individually or in discrete subarrays. However, not all combinations of actuators can be activated simultaneously; therefore in general, a sequence of control commands will be need to be executed in order to achieve the desired actuation. By treating each actuator as having a binary state, the combined states of the actuator array can be represented by graph theory, where states are nodes and the transitions between states are graph edges. By properly weighting the costs of the transitions, graph search techniques can be used to find optimal sets of control commands for desired state changes. This paper formulates the control of NAA actuators systems as a graph theory problem, and characterizes the ability of search algorithms to optimize a weighted combination of speed and energy usage, while minimizing computational cost.

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