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Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Дата: Август 29th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7802
  • Название документа: Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers
  • Номер (DOI, IBSN, Патент): 10.3233/ABB-2011-0021
  • Изобретатель/автор: J.A. Gallegoa, A. Forner-Corderob, J.C. Morenoa, E.A. Turowskaa, J.L. Ponsa
  • Правопреемник/учебное заведение: Bioengineering Group, Consejo Superior de Investigaciones Cient´ıficas, CSIC, Arganda del Rey, Madrid, Espa˜na
  • Дата публикации документа: 2008-08-29
  • Страна опубликовавшая документ: Не заполнено
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Applied Bionics and Biomechanics 8 (2011) 1–16
  • Вложения: Да
  • Аналитик: Глаголева Елена

Walking on irregular surfaces and in the presence of unexpected events is a challenging problem for bipedal machines. Up to date, their ability to cope with gait disturbances is far less successful than humans’: Neither trajectory controlled robots, nor dynamic walking machines (Limit CycleWalkers) are able to handle them satisfactorily. On the contrary, humans reject gait perturbations naturally and efficiently relying on their sensory organs that, if needed, elicit a recovery action. A similar approach may be envisioned for bipedal robots and exoskeletons: An algorithm continuously observes the state of the walker and, if an unexpected event happens, triggers an adequate reaction. This paper presents a monitoring algorithm that provides immediate detection of any type of perturbation based solely on a phase representation of the normal walking of the robot. The proposed method was evaluated in a Limit Cycle Walker prototype that suffered push and trip perturbations at different moments of the gait cycle, providing 100% successful detections for the current experimental apparatus and adequately tuned parameters, with no false positives when the robot is walking unperturbed.

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Категория: Научные статьи | Нет комментариев »


Practical Motion Capture in Everyday Surroundings

Дата: Август 29th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7790
  • Название документа: Practical Motion Capture in Everyday Surroundings
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Daniel Vlasic, Rolf Adelsberger, Giovanni Vannucci, John Barnwell, Markus Gross, Wojciech Matusik, Jovan Popovic
  • Правопреемник/учебное заведение: Mitsubishi Electric Research Laboratories
  • Дата публикации документа: 2008-08-29
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Не заполнено
  • Вложения: Да
  • Аналитик: Глаголева Елена

Commercial motion-capture systems produce excellent in-studio reconstructions, but offer no comparable solution for acquisition in everyday environments. We present a system for acquiring motions almost anywhere. This wearable system gathers ultrasonic time-of-flight and inertial measurements with a set of inexpensive miniature sensors worn on the garment. After recording, the information is combined using an Extended Kalman Filter to reconstruct joint configurations of a body. Experimental results show that even motions that are traditionally difficult to acquire are recorded with ease within their natural settings. Although our prototype does not reliably recover the global transfor-mation, we show that the resulting motions are visually similar to the original ones, and that the combined acoustic and inertial system reduces the drift commonly observed in purely inertial systems. Our final results suggest that this system could become a versatile input device for a variety of augmented-reality applications.

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Категория: Научные статьи | Нет комментариев »


Preliminary Specifications for an Exoskeleton for the Training of Balance in Balance Impaired Individuals

Дата: Август 29th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7781
  • Название документа: Preliminary Specifications for an Exoskeleton for the Training of Balance in Balance Impaired Individuals
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Allan B. Cass
  • Правопреемник/учебное заведение: Virginia Polytechnic Institute
  • Дата публикации документа: 2008-08-29
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Не заполнено
  • Вложения: Да
  • Аналитик: Глаголева Елена

There is a small but growing population of people who suffer from impaired balance. The causes range from old age to stroke to cerebral palsy. For those with only minor problems staying upright, a cane or walker is all that is needed. For some it is so debilitating that they are confined to a wheel chair. The precise cause of impairment can vary. In some, the vestibular, proprio-ceptive or visual impairments affect balance. In others, muscle weakness or brain damage is the cause. In another group, the brain never learned to balance in the first place. Relearning how to balance can be a struggle requiring months of costly physical therapy with a physical therapist. A machine that could help teach them how to balance would be a great help in the improvement of their lives. This thesis presents a set of control models for an exoskeleton that will stabilize and restore stability to those with impaired balance. The control models are designed for an exoskeleton to initially force the wearer into a known profile for balancing and moving. There will then be a steady reduction in the authority of the exo-skeleton over time, requiring the patient to assert more control over his or her own movement. As the authority of the exoskeleton is reduced, the patient will have to increase his or her own authority and develop his or her own control law or the patient will become less stable and eventually unbalanced. We expect this treatment method will increase the stability of patients, allowing them to steadily adapt to standing and walking. This will then allow them mobility without the use of a wheel chair and decrease their risk of falling. Further, the use of this device will enable the patients to receive therapy at home and in their normal life without the need to visit a physical therapist for rehabilitation, enabling the patients to receive therapy at home and for a longer period of time than they currently do.

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Категория: Научные статьи | Нет комментариев »


High-torque motor

Дата: Август 28th, 2008 Автор:
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  • Тип контента: Патент
  • Номер документа: 4319
  • Название документа: High-torque motor
  • Номер (DOI, IBSN, Патент): US2008/0203841A1
  • Изобретатель/автор: Horst R.W., Marcus R.R.
  • Правопреемник/учебное заведение: Tibion Corporation, Moffett Field, CA, USA
  • Дата публикации документа: 2008-08-28
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://www.google.com/patents/about/12_047_148_HIGH_TORQUE_M
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.

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An Upper Limb Exoskeleton for Pinpointed Muscular Exercises With Overextension Injury Prevention

Дата: Август 18th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6812
  • Название документа: An Upper Limb Exoskeleton for Pinpointed Muscular Exercises With Overextension Injury Prevention
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Tzong-Ming Wu, Shu-Yi Wang, Dar-Zen Chen
  • Правопреемник/учебное заведение: Dept. of Mechanical Engineering, National Taiwan University
  • Дата публикации документа: 2010-08-18
  • Страна опубликовавшая документ: Не заполнено
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Proceedings of the ASME 2010 International Design Engineerin
  • Вложения: Да
  • Аналитик: Глаголева Елена

Over-automated equipments and modern city life style lead to the diminishing opportunities for muscle using; however, the comfortable life is not always good for human health, and appropriate muscle training can not only enhance muscular strength and endurance but improve the health and fitness. Different kinds of ideas have been proposed for muscle training by exercise machines, which control direction of resistance for safety sake but isolate specific muscle groups to be trained. Compared with machines, free-weight exercise is a whole-body training in which human limbs can be moved on different planes to train more muscle groups. In this study, an upper limb exoskeleton design is proposed for free-weight exercise to strengthen the principal muscles of upper limb and shoulder. The upper limb exoskeleton is constituted of 3-DOF shoulder joint and 1-DOF elbow joint. The joint torques of shoulder and elbow joint of the exoskeleton match the objective joint torques from a model of free-weight exercise. The principal muscles of human arm and shoulder are training by dumbbell lateral raise, dumbbell frontal raise, dumbbell curl motion, and overhead triceps extension motion. With the arrangement of small-inertia springs, the exoskeleton is capable of preventing the muscle from injuries caused by the huge inertia change. The evaluation of the model was conducted by using isokinetic dynamometer to measure shoulder abduction-adduction, shoulder flexion-extension, and elbow flexion-extension for the male and female adults, and the results matched with the data obtained from the derived model.

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