Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that training using devices such as Reciprocating Gait Orthoses (RGO) reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design of a new “human friendly” orthosis powered by high power pneumatic Muscle Actuators. The combination of a highly compliant actuation system with an intelligent embedded control mechanism which senses hip, knee and ankle position, velocity, acceleration and force produces a powerful yet inherently safe operation for paraplegic patients. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

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Virtual Reality (VR) provides a unique medium suited to the achievement of several requirements for effective rehabilitation intervention. Specifically, thera-py can be provided within a functional, purposeful and motivating context. Many VR applications present op-portunities for individuals to participate in experiences, which are engaging and rewarding. In addition to the value of the rehabilitation experience for the user, both therapists and users benefit from the abi-lity to readily grade and document the therapeutic intervention using various systems. In VR, advanced technologies are used to produce simulated, interactive and multi-dimensional environments. Visual inter-faces including desktop monitors and head-mounted displays (HMDs), haptic interfaces, and real-time motion tracking devices are used to create environments allowing users to interact with images and virtual ob-jects in real-time through multiple sensory modalities. Opportunities for object manipulation and body mo-vement through virtual space provide frameworks that, in varying degrees, are perceived as comparable to similar opportunities in the real world. This paper reviews current work on motor rehabilitation using vir-tual environments and virtual reality and where possible, compares outcomes with those achieved in real-world applications.

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A method for obtaining an assist torque to be applied to a human joint, in a human assist system in order to reduce load on muscles, according to the present invention comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. In one embodiment of the present invention, various criteria are used such a mechanical energy, metabolic energy and/or a stability/equilibrium factor. In addition, the present invention can account for the situation when there is substantially no relative motion between segments of a given joint and thus, where the mechanical energy component of gravity compensation is approximately zero.

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This paper describes the mechanical and electrical design of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33cm x 25cm x 10cm). The procedure used to design the statically balanced spatial linkage is explained and both an inexpensive lightweight plastic version and a high stiffness, high strength, aluminum and stainless steel version are presented. The theory and implementation of sinusoidal encoder interpolation and sinusoidal servo-motor commutation used to achieve high-fidelity haptic simulation is covered for two versions of electronic control hardware: custom hardware based on a digital signal processor (DSP) and an off-the-shelf design based on an embedded PC.

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A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singu-larities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabi-litation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.

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