Humans are the most advanced creatures of the nature. I believe that humanoid
robots will be the most advanced creatures of humans. Among the man-made creatures
such as automobile, hand-phones and multimedia devices, robots of future will hopefully be
the most ideal assistants to human beings. Robots can live up to this expectation because
future intelligent and autonomous robots could free humans from, or ease them up of, repeatedly undertaking physically and mentally challenging routines. For instance, Robot Doctor could provide medical advices, pre-diagnostic, and even assist in surgical operation; Robot Nurse could assist patients in hospital or at home; Robot Soldier could participate in military intervention, and even fight terrorism; Robot Tutor could help our students to have a better learning experience; Robot Guard could make our society much safer; Robot Maid could keep our house clean and secure, and even help look after elderly
people at home; Robot Rescuer could be deployed to places where human lives are in danger. The list of potential applications with intelligent and autonomous robots is growing.

(далее…)

Категория: Научные статьи | Нет комментариев »

Many places in the world are too rugged or enclosed for vehicles to access. Even today, material transport to such areas is limited to manual labor and beasts of burden. Modern advancements in wearable robotics may make those methods obsolete. Lower extremity exoskeletons seek to supplement the intelligence and sensory systems of a human with the significant strength and endurance of a pair of wearable robotic legs that support a payload. This paper outlines the use of Clinical Gait Analysis data as the framework for the design of such a system at UC Berkeley.

(далее…)

Категория: Научные статьи | Нет комментариев »

Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evi-dence has shown that locomotor training reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design and control of a new “human friendly” orthosis (exoskeleton), powered by high power pneumatic Muscle Actuators (pMAs). The combination of a highly compliant actuation system, with an intelligent embedded control mechanism which senses hip, knee, and ankle positions, velocity, acceleration and force, produces powerful yet inherently safe operation for paraplegic patients. This paper analyzes the motion of ankle, knee, and hip joints under zero loading, and loads which simulate human limb mass, showing that the use of “soft” actuators can provide a smooth user friendly motion. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

(далее…)

Категория: Научные статьи | Нет комментариев »

Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.

(далее…)

Категория: Научные статьи | Нет комментариев »

The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at the University of California, Berkeley, walking at the average speed of 1.3 m/ s (2.9 mph) while carrying a 34 kg
(75 lb) payload. Four fundamental technologies associated with the Berkeley lower extremity exoskeleton were tackled during the course of this project. These four core technologies include the design of the exoskeleton architecture, control schemes, a body local area network to host the control algorithm, and a series of on-board power units to power the actuators, sensors, and the computers. This paper gives an overview of one of the control schemes. The analysis here is an extension of the classical definition of the sensitivity function of a system: the ability of a system to reject disturbances or the measure of system robustness. The control algorithm developed here increases the closed-loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system. The trade-offs between having sensors to measure human variables and the lack of robustness to parameter variation are described.

(далее…)

Категория: Научные статьи | Нет комментариев »