In this paper; we introduce a 3-DOF exoskeleton system to assist the human upper-limb motion (shoulder flexion-extension motion, shoulder adduction-abduction motion, and elbow flexion-extension motion) for daily activity and rehabilitation. The electromyogram (EMG) signals of human muscles are important signals to understand how the patient intends to move. The proposed exoskeleton automatically assists the patient ‘s motion for daily activity and rehabilitation mainly based on the skin surface EMG signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the patient upper-limb motion (elbow and shoulder motion) based on the EMG signals in a short time because of the difficulty in using the EMG signals as the controller input signals. In order to cope with this problem, fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeleton system for motion assist of the patient. Experiment has been performed to evaluate the proposed exoskeleton and its control system.

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This paper presents the first results of my PhD thesis, which addresses the problem dominant points detection for motion analysis on programmable retina. The goal of this research is to develop new algorithmical concepts to implement efficient image processing tools over the massively parallel cellular array of processors of the programmable retina, in order to perform effective motion analysis tasks.

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A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator’s arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

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This Paper describes the design of the ESA Human Arm Exoskeleton, which has been developed to enable force-feedback telemanipulations with redundant robotic arms. It is described, how several shortcomings of previous telemanipulation systems were eradicated, to meet the system requirements for a lightweight, easy wearable and comfortable system. The patented novelties towards prior arm exoske-letons are enlightened, and the methodology is shown, according to which the system was designed. The prototype, which has been developed at ESTEC is described in detail, outlining the special features of the design.

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In this paper we present a framework that allows the haptic rendering of interactions between the human hand and a virtual environment consisting of polygonal objects. The proposed solution creates a representation of the human hand through simple geometric primitives (spheres, cylinders etc.) and allows the fast collision detection and calculation of forces of interaction. Theforces are calculated with precision and smoothness, especially at the fingertips, where the human haptic perception is more sensitive. The area of each contacted region is taken into account to correctly weigh the importance of each force we calculate.The objective is to give a simulation tool that will allow the use of exoskeletons for the human hand with an improved level ofprecision, which is necessary for the correct evaluation of these haptic devices and their efficient use.

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