Like many developed Asian countries, Western nations are facing an aging society. This places huge burdens on current healthcare systems. How can we cope with the rapidly increasing demand for healthcare? A wider use of technology is one possible solution. Japan is at the forefront of attempts to develop robotic technology in the service of its citizens, in particular the older members of its population. To learn from the Japanese experience, we visited the country to assess the current state of healthcare robotics there. The present report is intended as a contribution to the debate on the future of our healthcare system. We hope it will bridge the gap between the healthcare providers and the developers of robotics systems, and provide a basis for further discussion and practical collaboration. This study is a joint enterprise of the Rathenau Instituut in The Hague and the Science and Technology section of the Dutch Embassy in Tokyo. Ying Ying Lau from the Rathenau Instituut collected in-formation through interviews and laboratory visits in Japan in the period from September to December 2008. Her work was supervised by Daan Archer, Science and Technology Attaché at the Embassy and Technology Assessment researchers Christian van ‘t Hof and Rinie van Est from the Rathenau Instituut. At the end of November 2008, they visited several laboratories to talk to experts. They were accompanied during some of these visits by a delegation of Dutch healthcare managers, who provided them with feedback on their experi-ence of Japanese robotics. The study was rounded off by an expert meeting at the Dutch Embassy in Tokyo on 27 November 2008, where the future of healthcare robotics in Japan was discussed. This report is the beginning of a larger set of activities in the field of robotics in the Netherlands. In November 2009 an international conference on robotics will be held by SenterNovem (an innovation agency of the Dutch Ministry of Economic Affairs), the Dutch Ministry of Education, Culture and Science and the Rathenau Instituut. Various investigations will be carried out in preparation for this event. For example, the athenau Instituut will carry out an exploratory study on service robots. The Rathenau Instituut will also study developments in the field of healthcare robotics in the Netherlands. We would like to thank all the robotics experts who have contributed to our understanding of the current developments in Japan. The meetings and institutes are mentioned in Appendix A. We also owe a debt of gratitude to the staff of the Dutch Embassy in Tokyo and look forward to future collaboration.

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This paper is focused on the use of Zero Moment Point (ZMP) concept for balancing control of the Asian Institute of Technology Leg EXoskeleton-I (ALEX-I). ALEX-I has been developed to assist patients who suffer from paraplegia or immobility due to the loss of power on lower limbs. The balanced posture set-points (joint trajectories) under ZMP criterion are generated offline. The ZMP based set points are provided as the desired postures to ALEX-I. Fuzzy Logic Controller (FLC) determines the modified set points based on postures balancing sensed by loadcells. Ground Contact Point (GCP) is used to find the “ZMP-like in real time”. GCP data is obtained by placing 4 loadcells forming a force plate on each foot of ALEX-I. This GCP data is then compared with the reference ZMP. Uncertainties of the model parameters, backlash, and joint tolerance are considered as disturbance. The differences of ZMP and GCP on x-z plane are used as the inputs to the FLC. The 4 outputs from FLC are the compensated angles of left and right ankles joints in roll and pitch axes that make the actual ZMP locate in the convex hull of the supporting area.

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Mechanized exoskeletons are a relatively new techno-logy being developed that combines human intellect and machine power achieving higher performance than ei-ther could produce alone. A large government backing from the military allows this technology to improve. Our research entails the current state of mechanized exoskeletons and the futures of these suits already in the experimental stages. The paper incorporates the mechanical aspects of the current generations of me-chanized exoskeletons and the future advancements in this field. The feat of engineering a power source ne-eds addressing along with the mechanical aspects of the machine. Further investigation details the system of sensors and processors integrated with the moving mechanical parts that allow the exoskeleton to func-tion with the body flawlessly. This breakthrough technology promises better performance, general well being, and overall efficiency for soldiers. The employment of the mechanized exoskeleton is no longer just a dream but is now a reality that has limitless possibilities.

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Presently there has been much development of human‐like robotic hands, with most of this research dedicated to creation of prosthetics to aide a handicapped person with everyday tasks. Many of these prosthetics are beginning to use sensors that read muscle movement or nerve signals from the user to control the movement of the prosthetic limb. These prosthetic hands can greatly resemble the human hand in both aesthetic appearance and function, although these hands are only designed to aid the handicapped. As technology increases these designs can be modified to increase gripping capabilities of an average person; mimicking their actual hand movements while increasing strength. A design that can accomplish human like movements while increasing grip strength can be very useful for militaristic purposes, especially since grants have currently been presented to companies for the creation of an exoskeletal robotic suit.

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With the ever increasing role of computerized machines in society, Human Computer Interaction (HCI) system has become an increasingly important part of our daily lives. HCI determines the effective utilization of the available information flow of the computing, communication, and display technologies. In recent years, there has been a tremendous interest in introducing intuitive interfaces that can recognize the user’s body movements and translate them into machine commands. For the neural linkage with computers, various biomedical signals (biosignals) can be used, which can be acquired from a specialized tissue, organ, or cell system like the nervous system. Examples include Electro-Encepha-logram (EEG), Electrooculogram (EOG), and Electromyogram (EMG). Such approaches are extremely valuable to physically disabled persons. Many attempts have been made to use EMG signal from gesture for developing HCI. EMG signal processing and controller work is currently proceeding in various direction including the development of continuous EMG signal classification for graphical controller, that enables the physically disabled to use word processing programs and other personal computer software, internet. It also enable manipulation of robotic devices, prosthesis limb, I/O for virtual reality games, physical exercise equipments etc. Most of the developmental area is based on pattern recognition using neural networks. The EMG controller can be programmed to perform gesture recognition based on signal analysis of groups of muscles action potential. This review paper is to discuss the various methodologies and algorithms used for EMG signal classification for the purpose of interpreting the EMG signal into computer command.

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