This paper deals with the mechanical design of a novel haptic hand exoskeleton (HE) that allows exerting controlled forces on the fingertip of the index and thumb of the operator. The proposed device includes several design solutions for optimizing the accuracy and mechanical performances. Remote centers of motion mechanisms have been adopted for delocalizing the encumbrance of linkages of the structure away from the operator’s fingers. An improved stiffness of the transmission and reduced requirements for the actuators have been achieved thanks to a novel patent pending principle for integrating speed reduction ratio with the transmission system.

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An actively powered, augmented, exoskeleton system is studied within a speed-accuracy performance task framework with human subjects. This system has a dual use in military applications as well as for the rehabilitation of patients with neuromotor disorders

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This Paper describes the design of the ESA Human Arm Exoskeleton, which has been developed to enable force-feedback telemanipulations with redundant robotic arms. It is described, how several shortcomings of previous telemanipulation systems were eradicated, to meet the system requirements for a lightweight, easy wearable and comfortable system. The patented novelties towards prior arm exoskeletons are enlightened, and the methodology is shown, according to which the system was designed. The prototype, which has been developed at ESTEC is described in detail, outlining the special features of the design. The paper will also refer to the strengths of the Research and Development (R&D) base in Europe, derived from significant national and ESA programs and a judicious cross-fertilisation with R&D in non-space domains.

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This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and tested including (1) accurate and quantitative diagnosis which is not practical to do during manual clinical examinations or with existing robotic devices; (2) strenuous stretching of spastic joints based on the diagnosis and with intelligent control to adjust the stretching velocity constantly according to the joint conditions; (3) voluntary movement exercise to perform realistic functional tasks based on the patient-specific diagnosis, and (4) outcome evaluations which assessed the treatment outcome quantitatively with multiple physiological measures.

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This paper discusses the current status of the research and development on robotic exoskeletons for both commercial and military applications in Japan and the US. Designed to help elderly and disabled people walk, climb stairs, and carry things around, the Japanese exoskeleton, called HAL-5, is set to hit the market in November 2005. Meanwhile, in the US, the most advanced exoskeleton projects are currently underway at the University of California and at Sacros Research Corp. Both groups are working on a second-generation exoskeleton that is a huge improvement over its predecessor. These projects appear to be the first of a platoon of considerably more capable exoskeletons aimed at real-world uses that may soon become part of the mainstream. While most of these systems are designed for the physically weak or disabled people, researchers are quick to mention other commercial possibilities including their use for rescue and emergency operations, moving furniture and other heavy objects, and even construction work.

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