This paper introduces an approach to performance animation that employs a small number of motion sensors to create an easy-to-use system for an interactive control of a full-body human character. Our key idea is to construct a series of online local dynamic models from a prerecorded motion database and utilize them to construct full-body human motion in a maximum a posteriori framework (MAP). We have demonstrated the effectiveness of our system by controlling a variety of human actions, such as boxing, golf swinging, and table tennis, in real time. Given an appropriate motion capture database, the results are comparable in quality to those obtained from a commercial motion capture system with a full set of motion sensors (e.g., XSens [2009]); however, our performance animation system is far less intrusive and expensive because it requires a small of motion sensors for full body control. We have also evaluated the performance of our system by leave-one-out-experiments and by comparing with two baseline algorithms.

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The resistance compensation, especially the friction compensation in the Bowden cable transmission is a difficult issue to be handled. Aimed to the resistance reduction requirement in the active rehabilitative motion, a resistance compensation control method is proposed. Based on the simplified transmission model, the resistance, including the cable friction as well as the mechanical moment of inertial, is formulated. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. With the proposed algorithm, the maximum finger-exerted force is reduced to less than one third of before. The experimental result demonstrates the validity of the proposed method.

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A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

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A power generating leg, configurable to be coupled to a person’s lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit The knee mechanism is connected to said thigh link and said shank link, and allows movements of said thigh link and said shank link relative to each other The torque generator is configured to generate torque between said shank link and said thigh link The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque In a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link and said power unit converts a portion of the power associated with the product of said torque into electrical power to be stored in a storage device.

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A body-weight support system that allows individuals with severe gait impairments to practice over-ground walking in a safe, controlled manner is disclosed. The system includes a body-weight support system that rides along a driven trolley and can be controlled in response to the movement of the subject using the system.

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