By taking inspiration from the hydraulic system of spiders, we have conceived a novel hydraulic flexible joint suitable to be miniaturized and embedded in robotic platforms. The hydraulic flexible join has a modular design-joints can be positioned in series to obtain highly redundant configurations. In this paper, the design of the hydraulic joint is proposed and its performance is discussed.

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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.

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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.

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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.»

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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.

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