In this paper, we focus on the Jacobian analysis of a novel assisting mechanism which is used on human hip joint power assisting. Different from conventional assisting systems, the adopted assisting mechanism is a 3UPS parallel mechanism which can realize assisting all human hip joint’s DOF among mechanical workspace. Parallel mechanism, also known as possessing the merits such as higher precision and higher stiffness, however, is much more complex than serial mechanism. By an effective way of differing the constraint equations, direct parallel kinematical Jacobian denoting the velocity relation between the active joints and end-effector is worked out. By demonstrating some simulation and actual experimental results, this kinematical Jacobian is proved to be applicable to be used on human walking power assisting control.

Категория: Ищем научные статьи | Нет комментариев »

In this paper, we intend to introduce a concept of power assist system—walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn’t affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo- compliance. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.

Категория: Ищем научные статьи | Нет комментариев »

A new conceptual solution is presented for the problem of providing force feedback for virtual reality, concentrating on potential CAD/CAM applications. The essential concept is that force feedback is provided by interactions between the human operator and specialized external (as opposed to worn) robots. This is called «robotic graphics» to express the analogy between robots simulating the feel of an object, and graphics displays simulating its appearance. This is illustrated by introducing the derivative concepts of «robotic shape displays» and «roboxels.»

Категория: Ищем научные статьи | Нет комментариев »

The six papers in this focused section were originally presented at the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob’06), held February 20-22, 2006, in Pisa, Italy. The first three papers illustrate mechatronic devices for rehabilitation applications; the fourth paper presents a mechatronic system for disabled people; and the last two papers deal with mechatronic devices and technologies for minimally invasive and teleoperated surgery. The papers are summarized here.

Категория: Ищем научные статьи | Нет комментариев »

OBJECTIVES:
To evaluate the use of an electromechanical device, comprising an exoskeleton, a static orthosis, and a glove, for functional rehabilitation of the elbow and hand in patients with hemiparesis, and to compare it with physical therapy rehabilitation.

DESIGN:

Pretest-posttest design.

SETTING:

Rehabilitation laboratory.

PARTICIPANTS:

Volunteer sample of persons (N=12) with persistent hemiparesis from a single, unilateral stroke within the past 3 to 36 months.

INTERVENTIONS:

The volunteers were randomly divided into 2 groups. One group was treated with a conventional program of physiotherapy, and another group participated in a training program in which an electromechanical orthosis was used. All volunteers received 24 sessions, held 3 times a week for 8 weeks.

MAIN OUTCOME MEASURES:

Modified Ashworth Scale (MAS), Fugl-Meyer Assessment (FMA), and electromyogram (EMG) amplitude.

RESULTS:

No statistical difference was found in the initial and final values of the MAS. Both groups showed a significant increase for the total scores of the FMA. However, only the group treated with the orthosis showed an increase in FMA scores related to the wrist and hand joint. The EMG analysis showed increased EMG amplitudes for all muscles in the group treated with the orthosis, whereas the group treated with physiotherapy showed gains in electromyographic activity only in the extensor digitorum communis. Intergroup comparison showed that the initial FMA scores of the wrist/hand were higher in the group treated with physiotherapy. However, after training, the scores in the group that used the orthosis were equivalent to those of the physiotherapy group.

CONCLUSIONS:

The results suggest that this device can be an auxiliary tool to help the conventional rehabilitation program of motor function of the affected upper extremity.

Категория: Ищем научные статьи | Нет комментариев »