This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions – screw and cable patented arrangement – and its integrated architecture makes it the very first of its category. Back-drivable, high efficiency, low inertia actuators provide a high capacity (around 50 N continuous effort at the hand) and hybrid force-position control capability without force sensor. ABLE 4D is currently used in a research project dedicated to rehabilitation (BRAHMA). Only the 4 axis model is described in this paper but a 7 axis version is already planned for 2009. Thanks to the performances obtained with ABLE 4D we are planning to use ABLE 7D for assistance for disabled persons as well as for intuitive teleoperation and haptic applications (VR). Thanks to its particularly simple design industrial versions are foreseen in a near future.

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El hombre siempre se ha sentido atraído por la idea de diseñar máquinas semejantes a si mismo. Estos robots humanoides podrían servir para sustituirnos en tareas molestas o peligrosas, para el cuidado de personas con discapacidad, o simplemente como medios de entre-tenimiento. Así, durante casi cuarenta años han ido apare-ciendo un gran número de robots humanoides. Estos prototipos estaban con-trolados como los manipuladores industriales, siguiendo unas trayectorias predefinidas garantizando la estabilidad local. Mientras los robots basados en esta aproximación lograban resultados espectaculares, aparecieron unas máquinas capaces de descender una pendiente sin actuación ni control, y con un movimiento casi humano, los robots dinámicos pasivos. Estas máquinas andantes inspi-raron el diseño de robots, que confiando en su cinemática y dinámica intrínsecamente inestables, caminan forma veloz y eficiente. Son los llamados robots de Ciclo Límite. En el presente trabajo se revisan los pasos que se han dado para desarrollar este concep-to, recorriendo las principales ideas y el estado del arte. Después se presenta al bípedo ESBiRRo, el robot de Ciclo Límite con mayor similaritud con el hombre hasta la fecha. Con él, se intentará reproducir la capacidad del ser humano para andar en circun-stancias adversas: caminar sobre terreno irregular, tropezar con obstáculos, sufrir empujones, etcétera. Por último, y tras descri-bir tanto el diseño como el control de ESBiRRo, los autores presentan una reflexión sobre cuál puede ser el camino a tomar por la robótica humanoide para hacer su sueño realidad.

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This book is the result of several years of research and work by the Bioengineering Group (CSIC) on the use of Robotics to assist handicapped people. The aim of the book is to provide a comprehensive discussion of the field of Wearable Robotics. Rehabilitation, Assistance and Functional Compensation are not the only fields of application for Wearable Robotics, but they may be regarded as paradigmatic scenarios for robots of this kind. The book covers most of the scientific topics relating to Wearable Robotics, with particular focus on bioinspiration, biomechatronic design, cognitive and physical human–robot interaction, wearable robot technologies (including communication networks), kinematics, dynamics and control. The book was enriched by the contribution of outstanding scientists and experts in the different topics addressed here. I would like to thank them all.

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We aim to develop the Hybrid Assistive Lims (HAL) in order to enhance and upgrade the human capabilities based on the frontier science Cybernics. Cybernics is a new domain of interdisciplinary research centered on cybernetics, mechatronics, and informatics, and integrates neuroscience, robotics, systems engineering, information technology, “kansei” engineering, ergonomics, physiology, social science, law, ethics, management, economics etc. Robot Suit HAL is a cyborg type robot that can expand, augment and support physical capability. The robot suit HAL has two types of control systems such as “Cybernic Voluntary Control System” and “Cybernic Autonomous Control System”. The application fields of HAL are medical welfare, heavy work support and entertainment etc. In this paper, the outline of HAL and some of the important algorithms and recent challenges are described.

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The test of wearable robots with users can be dangerous, especially initially, when the control algorithms and the controller are tested. The use of virtual prototypes, as opposed to creating real ones, whilst not eliminating the need to manufacture an ultimate prototype for the final tests, eliminates intermediate tests which could potentially be dangerous for a user. Multi-modal interaction and virtual prototyping are used to test and evaluate the controllers. The Ikerlan research centre has designed a 2 DoF arm orthosis to research the issue of the interaction of such devices with the environment. This orthosis was not physically constructed, but a virtual prototype was created for testing the performance of the different control algorithms implemented.. The multi-modal interfaces considered are composed of traditional devices, one haptic device (Phantom) and a video-based motion capture and mark recognition system. As a result, two test platforms have been developed, where the orthosis is tested in Real-Time simulation based on the real movements of the user. Augmented Reality (AR), Virtual Reality (VR) and videobased optical motion capture techniques are used in order to evaluate a prototype.

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