This paper proposes an approach of generating the gait pattern that Asian Institute of Technology’s Leg EXoskeleton (ALEX) and its wearer can walk safely with the passing criteria of Zero Moment Point (ZMP) theorem for static and dynamic considerations, respectively. ALEX has 12 DOF (6 DOF for each leg: 3 at the Hip, 1 at the knee and 2 at the ankle), controlled by 12 DC motors. The CAD drawing and assembly of ALEX are exported directly to MATLAB’s Simulink/SimMechanics simulation environment to assure accurate positioning of center of gravity (CG) and moment of inertia of each of the links that make up this 12 DOF robot. The gait pattern is visually observed in virtual environment (VR) using 3D VRML interpreter while ZMP trajectory is monitored using MATLAB’s 2D graphics representation. With this developed simulation of ALEX, the robot can be tested to confirm its balance gait motion prior to the real implementation on the physical system that could cause serious damages to the robot itself and its fragile electronic devices.

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Recently, the exoskeletal power assistive equipment, which is a kind of wearable robot, has been widely developed to help human body motion. The exoskeleton for elderly people and patients, however, has some limitations due to the weight and volume of the equipment. In this paper, a tendon-driven exoskeletal power assistive device, exoskeleton for patients and the old by the Sogang University (EXPOS), is proposed as a feasible solution. In case of EXPOS, the caster walker carries heavy items such as motors, drivers, controllers, and batteries so that the weight and volume of the wearable exoskeleton are minimized. The tendon-connecting motors and pulleys of hip and knee generate the assistive power according to the requirement of the users. In this paper, the design concepts of the EXPOS, sensing techniques, and control methods are discussed

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Exoskeleton Robot is a robotic-assisted human-machine system, which can provide power to assist the movement of people. This paper aims to find a method of EMG pattern recognition used in Exoskeleton Robot. To the beginning, the EMG power spectrum ratio (PSR) is calculated as the EMG eigenvalue. Then the minimum error-based Bayes decision rule is used to determine the movement intention of human, implemented in Matlab. The research result shows that the power spectrum density rate and the minimum error-based Bayesian decision theory can recognize the EMG on the movement intention of lower extremity exoskeletonwith the advantages of easy reality and fast compute by Matlab.

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The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper, we focus on the mechanical design of an active knee orthosis. The proposed kinematic design is inspired by the knee biomechanics. Therefore, it is expected that the proposed configuration will help to provide more natural gait during theraphy sessions of patients or in daily use as a sophisticated system. It is based on efficiently controlling the knee motions with hybrid actuations. The two actuators will be implemented with the proposed design; one as hamstring and the other as quadriceps. It is anticipated that the new system will offer an enhanced walking capacity for the patients.

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In this paper, teleoperated control of a mobile robot with two arms is implemented. An exoskeleton type motion capturing device is designed and built for controlling the robot remotely through wireless communication. Kinematics of the exoskeleton type motion capturing system are analyzed and simulation studies are conducted to confirm certain ranges of workspace without singular positions. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

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