Rehabilitation devices require a very precise actuating system. In this paper, a flexible joint actuator is proposed as an actuating system of an intelligent active orthosis. To generate joint torque as desired, a spring is installed between a motor and human joint and the motor is controlled to have a proper spring deflection for torque control. When the desired torque is zero, the motor should follow human joint motion which requires that the friction and inertia of the motor are compensated. The human joint and body part represent the load to the flexible joint actuator. They interact with environment and their parameters are not fixed. The controller for the flexible joint actuator must operate under these conditions.

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• Gait cycle segmentation using inverted pendulum model of walking • Direct integration of accelerations • Real-time algorithm in Matlab/Simulink Real Time Workshop/Real Time Windows Target • Accurate speed estimation with 7% error • Useful for control of prostheses, orthoses, exoskeletons and energy harvesters

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A «muscle suit» that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. Applying the muscle suit to non-healthy people such as elderly people and/or disable one requires very high-level safety and usability, from the practical point of view. We then in the first place for the practical use, apply the muscle suit to the manual worker. In this paper, we introduce how we can apply the muscle suit for the manual worker.

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1. State the problem briefly.
2. Describe the methodology.
3. Summarize the findings.
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Evaluations for gait rehabilitation is difficult because gait parameters change with individuals and situations, such as walking speeds and step length. Doctors suggest proper rehabilitation programs for patients after performing initial clinical evaluations. For the use of design and control of the NaTUre-gaits (natural and tuneable rehabilitation gait system), this paper provides a clinical analysis through an EMG measurement study. A methodology for gait qualitative evaluation is proposed, based on repetition, symmetry, and smoothness characteristics of the walking muscle activation pattern. Clinical trials conducted at a local hospital verify the methodology with comparison between healthy person walking and patient walking. Result has shown the effectiveness of the evaluation methodology developed in this study.

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