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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This work introduces a new driven gait orthosis (DGO) based on the pneumatical exoskeleton leg for locomotor training. This device can drive the lower-limb of a patient in a physiological way on the moving treadmill following the given gait which fits to the individual needs. Therefore, it can help a patient who suffers lower-limbs paralysis to recover his walking ability. Mechanisms were designed based on the optimization from the view of human gait and the Ergonomics. Displacement sensors were mounted to allow a closedloop control consequently to make each limb’s motion as similar as possible to that of the human specimen. Each actuator is controlled by an algorithm, which consists of fuzzy and bang-bang. This solution allowed the existing strong nonlinearities to be easily managed with high response. The satisfying experiments results demonstrated the effect of the hybrid algorithm.

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