This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.

Категория: Ищем научные статьи | Нет комментариев »

Минувшим летом Министерство образования и науки объявило конкурсы на реализацию экзотичных хайтековских проектов. Роботы-манипуляторы, «Экзоскелет», движок для создания сверхреалистичных 3D-пространств. На десяток подобных лотов потратят более 1,3 млрд рублей. Обсудить смысл заказов удалось с членом-корреспондентом РАН Олегом Нарайкиным, главой научно-технического совета по проблеме нанотехнологий и наноматериалов Минобрнауки.

(далее…)

Категория: ПАК Экзоскелетон | Нет комментариев »

The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. Anexoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.

Категория: Ищем научные статьи | Нет комментариев »

The human lower extremity exoskeleton (HLEE) conceived and designed to provide human the ability to carry heavy loads on his back with minimal effort over type of rugged terrain, which integrated human-robotic system under the control of the human. Based on bionics, HLEE structure was analyzed and designed. Mathematical models of human typical gait were built. The Virtual prototype of the human and the Lower Extremity Exoskeleton were produced using Pro/e three-dimensional modeling software and ADAMS kinematic modeling package. Trajectory of human motion was programmed using the cubic spline interpolation. The accuracy and the assumptions feasibility of the model were proven by simulation.

Категория: Ищем научные статьи | Нет комментариев »

Fixed-Base Exoskeleton applications have increased rapidly in the last few years, evidently as part of promising rehabilitation robotic programs of the robotics worldwide community, where in particular Human-Robot-Interaction (HRI) plays an important role in its design and control because they are tightly coupled to human-limbs. Exoskeletons embrace HRI as well as technological and theoretical challenges towards real and effective rehabilitation. In this realm, some questions arise, to name a few, what is the relationship between the exchanged energy between human and exoskeleton? How can we assess rehabilitation factors under HRI philosophy? This paper attempts to establish answers to these questions, which can be embodied into rehabilitation HRI using a Light-Exoskeleton. A compliant haptic guidance scheme for human arm subject to minimum-jerk-trajectories criterion is proposed. Preliminary experimental results provide further insight of a haptic guidance scheme taking into account decisive factors into the HRI such as human pose, haptic guidance control, reaching and tracking tasks, the complexity of the virtual environment, and muscles activity.

Категория: Ищем научные статьи | Нет комментариев »