In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environ-ments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin’s control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.

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A device and a method that permit easy and accurate determination of a walking condition regardless of differences in foot landing points on soles or lengths of legs of a walker are provided. According to this device, a measuring device measures a parameter indicating a displacement speed or a displacement acceleration of a bottom end portion of one leg with respect to a bottom end portion of the other leg of the walker. A first storage device stores patterns of plots corresponding to parameters and walking conditions of the walker. A generating device generates plots defined in the determination space by parameters measured by the measuring device. A determining device determines walking conditions of the walker on the basis of the patterns of the plots stored and retained in conjunction with the walking conditions by the first storage device and the patterns of the plots generated by the generating device.

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Physical disabilities such as full or partial loss of function in shoulder, elbow or wrist is a common ailment due to geriatric disorder and other disease processes. To assist such physically disabled and or elderly people, we have been developing a 3DOF mobile exoskeleton robot for rehabilitation and for assisting motion of elbow and shoulder, since human shoulder and elbow motions are involved in a lot of activities of everyday life. The exoskeleton robot is mainly activated and is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the subject intends to move. In this paper, we propose neuro-fuzzy based motion control with obstacle avoidance behavior of a robotic exoskeleton for rehabilitation and assisting motion of upper-limb of physically disabled or elderly persons.

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BIONIC
For many years, the idea of a human with bionic mus-cles immediately conjures up science fiction images of a TV series superhuman character that was implanted with bionic muscles and portrayed with strength and speed far superior to any normal human. As fantastic as this idea may seem, recent developments in electroactive polymers (EAP) may one day make such bionics possible. Polymers that exhibit large displacement in response to stimulation that is other than elec-trical signal were known for many years. Initially, EAP received relatively little attention due to their limited actuation capability. However, in the recent years, the view of the EAP materials has changed due to the introduction of effective new materials that significantly surpassed the capability of the widely used piezoelectric polymer, PVDF. As this technology continues to evolve, novel mechanisms that are biolo-gically inspired are expected to emerge. EAP materials can potentially provide actuation with lifelike res-ponse and more flexible configurations. While further improvements in performance and robustness are still needed, there already have been several reported successes. In recognition of the need for cooperation in this multidisciplinary field, the author initiated and organized a series of international forums that are leading to a growing number of research and development projects and to great advances in the field. In 1999, he challenged the worldwide science and engineering community of EAP experts to develop a robotic arm that is actuated by artificial muscles to win a wrestling match against a human opponent. In this pa-per, the field of EAP as artificial muscles will be reviewed covering the state of the art, the challenges and the vision for the progress in future years.

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The first load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) walks at the average speed of two miles per hour while carrying 75 pounds of load. The project, funded in 2000 by the Defense Advanced Research Project Agency (DARPA) tackled four fundamental technologies: the exoskeleton architectural design, a control algorithm, a body LAN to host the control algorithm, and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of the BLEEX project.

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