With this thesis, I would like to lay the foundations for designing human interfacing wearable exoskeleton robots that are truly designed for the human. Before starting the development of the first human arm exoskeleton prototype, tasked to telemanipulate a space robot, I extensively searched for prior art in databases to potentially find guidelines on how to design a wearable robotic exoskeleton. Information was very scarce, however, and I found only a handful of information at all. Previous records have either shown device concepts only, incomplete devices or devices built to interact with only a sub-set of joints of the human arm. No record has provided evidence of a successful robot control with a portable exoskeleton, let alone with force-feedback to the operator. Not even to speak of finding quantitative analyses about the goodness of physical human–robot interaction or about bilateral control performance with such exoskeletons. Most of the reference material rather raised new questions than providing answers to me. I noticed that previous exoskeleton devices had been designed similar to typical robotic manipulators, but aiming to encapsulate the human limb. This was done despite the fact that artificial robotic systems are fundamentally different in structure from biological human limbs. Moreover, all prior exoskeletons had been developed with anthropometric data of specific indivi-duals. This seemed like a wrong approach to me and inspired me to investigate how these fundamental differences between robots and humans can be harmonized. I was motivated to start this scientific research about finding the fundamentals of ergonomic exoskeleton design. Now, a couple of years later, I can present with this thesis a novel quantitative analysis approach for assessing combined physical human–exoskeleton interaction. The theory presented allows the design analysis and evaluation of exoskeletons, and the solutions provided offer a clear set of design guidelines helpful to the community in the future. The guidelines show, on scientific grounds, how to best conceive exoskeleton kinematics, motorization and mechanical structures for enabling smooth and comfortable physical human robot interaction with portable exoskeletons. Technological solutions are proposed as well, that allow conceiving of lightweight exoskeletons with little apparent inertia and good force-feedback performance for robotic telemanipulation. The feasibility of developing a portable and body-grounded exoskeleton for the entire human arm is shown for the first time. It is proven that the device can interact seamlessly with natural motion of the human arm, without variation of its mechanical structure, for different operators. A new paradigm for the design of kinematic exoskeleton structures is developed, as well as a novel actuator concept, based on Bowden Cable transmissions. The results presented in this thesis provide the lacking theoretical fundament and the technological solutions, which together enable the design of physically interacting human–robot systems that are truly conceived for the human.

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Hand injuries are a frequent problem. The great amount of hand injuries is not only a problem for the affected people but economic consequences follow because rehabilitation takes a long time. To improve therapy results and reduce cost of rehabilitation a handexoskeleton was developed. For research on control algorithms and rehabilitation programs a prototype supporting all four degrees of freedom of one finger was built (s. Fig. 1). In view of the fact that a lot of hand injuries affect only one finger, this prototype could already be functional in physical therapy. A robust sliding mode controller was proposed for motion control of the handexoskeleton. The performance of the controller was evaluated for step response. In a second experiment varied forces where applied during the sensor was set to hold a constant position. Finally the controller was set to follow a complete trajectory.

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The present invention relates to transducers, their use and fabrication. The transducers convert between mechanical and electrical energy. Some transducers of the present invention include a pre-strained polymer. The pre-strain improves the conversion between electrical and mechanical energy. The present invention also relates to devices including an electroactive polymer to convert between electrical and mechanical energy. The present invention further relates to compliant electrodes that conform to the shape of a polymer included in a transducer. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.

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A method of providing rehabilitation movement training for a person suffering from nerve damage, stroke, spinal cord injury, neurological trauma or neuromuscular disorder in attempting to move a body part about a joint using a powered orthotic device includes sensing at least one electromyographic signal of a muscle associated with motion about the joint, applying in a first direction with respect to the joint a force having a magnitude that is a first function of the at least one sensed electromyographic signal, and applying in a second direction with respect to the joint a return force that is a second function of the at least one sensed electromyographic signal, wherein the second function differs from the first function.

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Cerebral palsy is an occurrence in which the nerves and muscles if the body may function properly, but there is damage to the brain that causes it to transmit incorrect electri-cal impulses to the muscles including both too many and too few signals. Without the correct cohesive electrical impulses to balance the opposing muscles of a joint, normal everyday tasks that most of us take for granted become very difficult to learn and perform. As exoskeletons become more advanced and practical, their applications have a lot of room for growth. Cerebral Palsy is one portion of the medical field that can benefit from the development of exoskeletons. As demonstrated with modern rehabilitation techniques, the application of an exoskeleton has the possibility of making the learning process and performance of many tasks easier and faster for both the patient as well as the doctor working with them. However, in order to appropriately apply the technology to the need, many changes in both the controls and the actual physical design of current devices need to be addressed. An exoskeleton for the purpose of helping cerebral palsy patients learn to walk is not limited to one specific form depending on the complexity of the tasks it is desired to assist with. However, there are a couple needs of this type of exoskeleton that are absolutely necessary. The size of the exoskeleton must be designed around the size of a child and not an adult. If the individual is learning to walk from the very beginning, the controls of the device will need to initially be able to take complete control over the individual’s limbs to exercise the motions of walking. With the nature of an exoskeleton controlling the limbs of a person instead of simply assisting with current movements, the physical attachments of the exoskeleton must be improved from current designs in order to make movements of the exoskeleton and the body more parallel. Other features such as different muscle sensing techniques may also improve performance, but are not required. An exoskeleton that can help cerebral palsy patients learn to walk can also be applied to many other rehabilitation needs.

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