To maximize performance and power efficiency, future multi-core architec-tures may be heterogeneous, incorporating some accelerator cores alongside the IA cores. Accelerator Exoskeletons provide a shared virtual memory heterogeneous multi-threaded programming paradigm for these accelerators using novel CPU instruction set extensions and software tool chains with an Intel Architec-ture (IA) look-n-feel. Firstly, we introduce the proposed architectural extensions known as the Exoskeleton Sequencer (EXO), which represents heterogeneous accelerators as ISA-based MIMD architecture resources, and a shared virtual memory heterogeneous multi-threaded program execution model that tightly couples specialized accelerator cores with general-purpose CPU cores. Then we introduce the C for Heterogeneous Integration (CHI) programming environment that includes a compiler, runtime, debugger, and performance-analysis tools. The CHI compiler extends the OpenMP pragma for heterogeneous multi-threading programming, and it produces a single fat binary with code sections corresponding to different instruction sets. The runtime can judiciously spread parallel computation across the heterogeneous cores to optimize performance and power.

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In dieser Arbeit wird ein Steuerungssystem für Exoskelette vorgestellt, das elektrische Signale vonMuskeln als zentrales Kommunikationsmittel zwischen dem menschlichen Benutzer und dem Exoskelett verwendet. Diese Signale werden auf der Hautoberfläche oberhalb ausgewählter Muskeln aufgezeichnet und spiegeln die Aktivierung der Muskeln wider. Sie werden durch ein ausgeklügeltes, aber vereinfachtes biomechanisches Modell des menschlichen Körpers ausgewertet, um die gewünschte Handlung des Benutzers abzuleiten. Eine Unterstützungsbewegung für diese gewünschte Handlung wird berechnet und durch das Exoskelett ausgeführt. Das biomechanischeModell vereint Ergebnisse von verschiedenen Forschergruppen aus der Biomechanik und Biomedizin und wendet dabei einige für die betrachtete Anwendung sinnvolle Vereinfachungen an. Es beinhaltet dabei Parameter, die bestimmte Eigenschaften des menschlichen Benutzers und dessen Zustand beschreiben. Für diese Parameter wird ein Kalibrationsverfahren vorgestellt, das sich lediglich auf am Exoskelett befindliche Sensoren stützt. Es bietet außerdem noch einen tiefen Einblick in die Funktionsweise des Modells. Ein Exoskelett zur Unterstützung der Kniebewegung wurde entworfen und aufgebaut, um das neu entwickelte Modell zu validieren und die Interaktion zwischen dem Menschen und dem Exoskelett während alltäglicher Bewegungen mit Kraftunterstützung zu untersuchen. Die Ergebnisse dieser Untersuchungen werden ebenfalls präsentiert.

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Artificial limbs and joints which behave like a biological limbs and joints employ a synthetic actuator which consume negligible power when exerting zero force, consume negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, are capable of independently engaging flexion and extension tendon-like, series springs, are capable of independently varying joint position and stiffness, and exploit series elasticity for mechanical power amplification.

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A high-power electrostatic actuator comprising rotor and stator layers with fault-tolerant electrode structures, a housing to contain the electrodes and dielectric fluid, and electronic circuitry driving a plurality of high-voltage phases. The actuator is constructed from multiple rotor and stator films separated by spacing elements. The electrode structure provides self-alignment for precise assembly. The actuator assembly includes built-in fine-position sensors to allow optimal timing in powering phases, and a coarse position sensor for feedback control. The electrode structure has a large region of linear force to provide low torque-ripple allowing simple high/low voltage pulsing instead of analog high voltage waveforms. Single or double sided flexible circuit manufacturing techniques are used to fabricate the rotor and stator films at low cost.

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The balancing of robotic systems is an important issue because it allows significant reduction of torques. However the literature review shows that the gravity balancing of robotic systems is carried out by weightless springs. For many balancing schemes it is the source of errors. This paper deals with an analytically tractable solution for the gravity balancing considering the spring mass. For this purpose, the relationship between the stiffness coefficient of the spring and its mass is provided. Then this relationship is introduced into the balancing equation and spring elastic force is determined taking into account its mass. For zero length springs, the stiffness coefficient of the springs is determined from a quadratic equation and for non-zero length springs from a cubic equation. In this way, an exact balancing of gravitational forces is achieved, which allows improving the balancing accuracy of robotic systems. The efficiency of the suggested approach is illustrated by numerical examples. An application to the balancing of the leg orthosis for robotic rehabilitation is also presented.

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