To maximize performance and power efficiency, future multi-core architec-tures may be heterogeneous, incorporating some accelerator cores alongside the IA cores. Accelerator Exoskeletons provide a shared virtual memory heterogeneous multi-threaded programming paradigm for these accelerators using novel CPU instruction set extensions and software tool chains with an Intel Architec-ture (IA) look-n-feel. Firstly, we introduce the proposed architectural extensions known as the Exoskeleton Sequencer (EXO), which represents heterogeneous accelerators as ISA-based MIMD architecture resources, and a shared virtual memory heterogeneous multi-threaded program execution model that tightly couples specialized accelerator cores with general-purpose CPU cores. Then we introduce the C for Heterogeneous Integration (CHI) programming environment that includes a compiler, runtime, debugger, and performance-analysis tools. The CHI compiler extends the OpenMP pragma for heterogeneous multi-threading programming, and it produces a single fat binary with code sections corresponding to different instruction sets. The runtime can judiciously spread parallel computation across the heterogeneous cores to optimize performance and power.

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In dieser Arbeit wird ein Steuerungssystem für Exoskelette vorgestellt, das elektrische Signale vonMuskeln als zentrales Kommunikationsmittel zwischen dem menschlichen Benutzer und dem Exoskelett verwendet. Diese Signale werden auf der Hautoberfläche oberhalb ausgewählter Muskeln aufgezeichnet und spiegeln die Aktivierung der Muskeln wider. Sie werden durch ein ausgeklügeltes, aber vereinfachtes biomechanisches Modell des menschlichen Körpers ausgewertet, um die gewünschte Handlung des Benutzers abzuleiten. Eine Unterstützungsbewegung für diese gewünschte Handlung wird berechnet und durch das Exoskelett ausgeführt. Das biomechanischeModell vereint Ergebnisse von verschiedenen Forschergruppen aus der Biomechanik und Biomedizin und wendet dabei einige für die betrachtete Anwendung sinnvolle Vereinfachungen an. Es beinhaltet dabei Parameter, die bestimmte Eigenschaften des menschlichen Benutzers und dessen Zustand beschreiben. Für diese Parameter wird ein Kalibrationsverfahren vorgestellt, das sich lediglich auf am Exoskelett befindliche Sensoren stützt. Es bietet außerdem noch einen tiefen Einblick in die Funktionsweise des Modells. Ein Exoskelett zur Unterstützung der Kniebewegung wurde entworfen und aufgebaut, um das neu entwickelte Modell zu validieren und die Interaktion zwischen dem Menschen und dem Exoskelett während alltäglicher Bewegungen mit Kraftunterstützung zu untersuchen. Die Ergebnisse dieser Untersuchungen werden ebenfalls präsentiert.

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The balancing of robotic systems is an important issue because it allows significant reduction of torques. However the literature review shows that the gravity balancing of robotic systems is carried out by weightless springs. For many balancing schemes it is the source of errors. This paper deals with an analytically tractable solution for the gravity balancing considering the spring mass. For this purpose, the relationship between the stiffness coefficient of the spring and its mass is provided. Then this relationship is introduced into the balancing equation and spring elastic force is determined taking into account its mass. For zero length springs, the stiffness coefficient of the springs is determined from a quadratic equation and for non-zero length springs from a cubic equation. In this way, an exact balancing of gravitational forces is achieved, which allows improving the balancing accuracy of robotic systems. The efficiency of the suggested approach is illustrated by numerical examples. An application to the balancing of the leg orthosis for robotic rehabilitation is also presented.

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For a serious scientific interest or rather an amusing desire to be the creator like Pygmalion, human being has kept fascination to create something re-plicates ourselves as shown in lifelike statues and imaginative descriptions in fairy tales, long time from the ancient days. At the present day, eventually, they are coming out as humanoid robots and their brilliant futures are forecasted as follows. 1) Humanoid robot will take over boring recurrent jobs and dangerous tasks where some everyday tools and environments designed and optimised for human usage should be exploited without significant modifications. 2) Efforts of developing humanoid robot systems and components will lead some excellent inventions of engineering, product and service. 3) Humanoid robot will be a research tool by itself for simulation, implementation and examination of the human algorithm of mo-tions, behaviours and cognitions with corporeality.

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Exoskeletons for human performance augmentation (EHPA) are controlled and wearable devices and machines that can increase the speed, strength, and endurance of the operator. EHPA is expected to do that by increasing the physical performance of the solider wearing it, including:
• Increased payload: more fire power, more supplies, and thicker and heavier armor increasing the soldier chance of surviving a direct hit or even an explosion.
• Increased speed and extended range: enhanced ground reconnaissance and battle space dominance.
• Increased strength: larger caliber weapons, obstacle clearance, repairing heavy ma
chinery such as tack.

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