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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Категория: ПАК Экзоскелетон | Нет комментариев »

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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This paper investigates force accuracy of a human finger in three types of support conditions of an exoskeleton. The exoskeletonaugments pinching force of a wearer’s index finger in proportion to it based on surface electromyography. Three supporting manners of the pinching force are evaluated by switching a fingertip part of the exoskeleton. One is that the assistive force is applied to the wearer’s finger so that the force could be sensible by the wearer. Another case is that the assistive force is directly delivered to a grasping object without a wearer’s fingertip. The other is that a part of the force directly affects the object and the rest affects the wearer’s finger. Through pilot experiments, transitions of the accuracy through training in these cases are compared each other.

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Several manipulators or exoskeleton are characterized by having a concave workspace in the operational space due to mechanical limits. This article proposes an online trajectory planning method for performing visually guided assisted reaching through a rehabilitation robotic exoskeleton, the L-Exos, in its concave workspace. To evalute the proposed methodology in a rehabilitation application, we set-up a computer vision based system that can automatically identify target objects in the workspace and generate a robot assisted movement to reach them through the L-Exos.

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