Series elastic actuators (SEA) have been widely applied to bipedal robots and orthotic/ prosthetic devices since its first introduction to robotics world. Comparing to conventional ‘stiff’ actuation, SEA has the advantages in terms of low output impedance, high force fidelity, and energy storing capability. For portable rehabilitation devices such as exoskeletons, the demand on highly efficient and lightweight actuation imposes great challenge. The purpose of this paper is to discuss the possible way of choosing components and optimizing the design for a series elastic actuator so that we can achieve a better design in terms of efficiency maximization and weight/size reduction.

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Walking and sit to stand are activities carried out by all the people many times during the day, but physical disabilities due to age and diseases create needs of assistive devices to help elderly people during their daily life. This study aims to study the different types and mechanisms of the assistive devices. We will analyze the limitations and the challenges faced by the researchers in this field. We will introduce the Assistive Device developed at the Egypt-Japan University of Science and Technology, named E-JUST Assistive Device (EJAD). EJAD will be a low cost intelligent assistive device to help elders in walking and sit-to-stand activities.

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Robots are well established in science and technique. They are used in different environments and they have different structures. Typical robot movements are rapid and steepy when the movement direction changes occurs. It is not necessary to replicate a biological nature based solution for most tasks, so such movements are acceptable and simpler to obtain. Control algorithms are simpler for such cases, development and settings of such controllers are morestraightforward.

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Virtual Reality (VR) technology enables users to interact with three-dimensional data, providing a potentially powerful interface to both static and dynamic information VR has existed in various forms since its inception. It has been known by names such as synthetic environment, cyberspace, artificial reality, simulator technology and so on and so forth before VR was eventually adopted. Though VR has existed from the late 1960s, its latest manifestation, desktop screen-based semiimmersive type which made its first appearance in entertainment industry, has made it come within the realm of possibility for general creation and use. As a result of proliferation of desktop VR, the technology has continued to develop applications that are less than fully immersive. These non-immersive VR applications are far less expensive and technically daunting and have made inroads into industry training and development.

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Рассмотрены задачи динамического анализа и оптимального управления био-мехатронных систем, образованных конечностями человека и электромеханическими устройствами реаби-литации и усиления ихдвигательных функций, построенных на базе манипуляционных механизмов с антропоморфной структурой.

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