Archive for Сентябрь, 2011

The rise of the body bots [robotic exoskeletons]

Дата: Сентябрь 23rd, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 776
  • Название документа: The rise of the body bots [robotic exoskeletons]
  • Номер (DOI, IBSN, Патент): 10.1109/MSPEC.2005.1515961
  • Изобретатель/автор: Guizzo, E., Goldstein, H.
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2005-10-10
  • Страна опубликовавшая документ: Не заполнено
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено, max-orduan

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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Категория: Ищем научные статьи | Нет комментариев »


A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton

Дата: Сентябрь 23rd, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 770
  • Название документа: A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton
  • Номер (DOI, IBSN, Патент): 10.1109/TNSRE.2010.2056388
  • Изобретатель/автор: Tagliabue, M., Roby-Brami, A., Robertson, J.V.G., Morel, G., Maiza, A., Jarrasse, N., Crocher, V.
  • Правопреемник/учебное заведение: Inst. des Syst. Intelligents et de Robot., Univ. Pierre et Marie Curie - Paris 6, Paris, France
  • Дата публикации документа: 2010-08-09
  • Страна опубликовавшая документ: Франция
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

While a large number of robotic exoskeletons have been designed by research teams for rehabilitation, it remains rather difficult to analyse their ability to finely interact with a human limb: no performance indicators or general methodology to characterize this capacity really exist. This is particularly regretful at a time when robotics are becoming a recognized rehabilitation method and when complex problems such as 3-D movement rehabilitation and joint rotation coordination are being addressed. The aim of this paper is to propose a general methodology to evaluate, through a reduced set of simple indicators, the ability of an exoskeleton to interact finely and in a controlled way with a human. The method involves measurement and recording of positions and forces during 3-D point to point tasks. It is applied to a 4 degrees-of-freedom limb exoskeleton by way of example.

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Wearable cable-driven upper arm exoskeleton — motion with transmitted joint force and moment minimization

Дата: Сентябрь 23rd, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 768
  • Название документа: Wearable cable-driven upper arm exoskeleton - motion with transmitted joint force and moment minimization
  • Номер (DOI, IBSN, Патент): 10.1109/ROBOT.2010.5509823
  • Изобретатель/автор: Ying Mao, Agrawal, S.K.
  • Правопреемник/учебное заведение: Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
  • Дата публикации документа: 2010-07-15
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Safety is a critical issue for upper arm exoskeletons intended for human use. Joint forces and moments experienced by a human user during motion must be minimized to ensure safety. Trajectory planning and control of cable-driven exoskeletons is challenging due to the unique property that cables can transmit forces only in tension. This paper introduces the design of a 4-DOF cable-driven upper arm exoskeleton and schemes for trajectory planning and control. Simulations show that in most cases a feasible point-to-point trajectory can be generated while minimizing reaction joint forces and moments.

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An exoskeleton for gait rehabilitation: Prototype design and control principle

Дата: Сентябрь 23rd, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 763
  • Название документа: An exoskeleton for gait rehabilitation: Prototype design and control principle
  • Номер (DOI, IBSN, Патент): 10.1109/ROBOT.2008.4543506
  • Изобретатель/автор: Versluys, R., Vanderborght, B., Van Ham, R., Van Damme, M., Lefeber, D., Beyl, P.
  • Правопреемник/учебное заведение: Dept. of Mech. Eng., Vrije Univ. Brussel, Brussels
  • Дата публикации документа: 2008-06-13
  • Страна опубликовавшая документ: Бельгия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Research in robotic gait rehabilitation still faces many challenges regarding ankle assistance, body weight support and human-robot interaction. This paper reports on the development, focusing on these challenges, of a gait rehabilitation exoskeleton powered by pleated pneumatic artificial muscles. The first prototype is intended as a platform for the evaluation of design and control concepts. The mechanical design procedure is explained with the emphasis on optimization. A proxy-based sliding mode control approach is proposed and evaluated by means of simulation. Simulation results indicate good tracking performance and safe system behavior, encouraging experimental validation on the prototype.

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An exoskeleton system for elbow joint motion rehabilitation

Дата: Сентябрь 23rd, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 760
  • Название документа: An exoskeleton system for elbow joint motion rehabilitation
  • Номер (DOI, IBSN, Патент): 10.1109/AIM.2003.1225518
  • Изобретатель/автор: Watanabe, K., Tsuruta, T., Kiguchi, K., Fukuda, T., Esaki, R.
  • Правопреемник/учебное заведение: Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
  • Дата публикации документа: 2003-09-04
  • Страна опубликовавшая документ: Япония
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

The paper presents an exoskeleton system designed for elbow joint motion rehabilitation. The proposed system is supposed to be directly attached to the lateral side of a patient’s arm and assist the elbow flexion-extension motion of the patient for rehabilitation. In the proposed system, the amount of electromyogram (EMG) signals of biceps and triceps of the patient are monitored and used to control the motion of the system. The assist level (the support level) of the system can be decided for each patient based on his/her physical and physiological condition or rehabilitation phase. The effectiveness of the proposed support system was evaluated by experiment.

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