Many of the current implementations of exoskeletons for the lower extremities are conceived to either augment the user’s load-carrying capabilities or reduce muscle activation during walking. Comparatively little research has been conducted on enabling an exoskele-ton to increase the agility of lower-limb movements. One obstacle in this regard is the inertia of the exoskeleton’s mechanism, which tends to reduce the natural frequency of the human limbs. A control method is presented that produces an approximate compensation of the inertia of an exoskeleton’s mechanism. The controller was tested on a statically mounted, single- DOF exoskeleton that assists knee flexion and extension. Test subjects performed multiple series of leg-swing movements in the context of a computer- based, sprint-like task. A large initial acceleration of the leg was needed for the subjects to track a virtual target on a computer screen. The uncompensated inertia of the exoskeleton mechanism slowed down the transient response of the subjects’ limb, in comparison with trials performed without the exoskeleton. The subsequent use of emulated inertia compensation on the exoskeleton allowed the subjects to improve their transient response for the same task.

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The core objective of this project is the development of an exoskele-ton controller for a prototype robotic arm, which is stand-alone, portable, programmable, and easy to maintain and use. The design and implementation utilizes a field-programmable gate array (FPGA) to meet this objective. At present, exoskeleton controllers of robotic manipulators are usually bulky, stationary and usually dependent on a personal computer or mainframe. The product of this project can become a basis for future exoskeleton controller designs, where it can make a significant impact on almost everyone espe-cially in industry and research. Such designs will be invaluable in automated factory processes, construc-tion, toxic waste handling such as maybe needed at the Philippine Nuclear Research Institute and hospitals handling radioactive materials, operations in a vacuum environment, honey-bee culturing and even deep sea or space exploration. Furthermore, the design can bring a complex technology to a level that everyone can comprehend, and can promise a full utilization of such. Based on existing designs and technologies studied, a lightweight, portable and easy-to-wear exoskeleton controller was constructed. This exoskeleton coupled with the use of an FPGA to serve as the system’s main processor will make the controller of a robotic arm easier to move, handle, understand, use, and maintain. With the whole setup completed, the programmable robotic arm controlled by an exoskeleton controller is yet another important achievement in the field of robotics.

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The most essential automation is saving human life, saving their belongings, protecting their properties and making arrangements in a systematic way for automation. This paper deals with the design of a real time Human Limb which acts according to the design configurations of the prescribed datas as per the sensor calibrated. This research proposes to overcome current limitations using three axis optimal inertial sensors combined with an Embedded Controller on which the filter algorithm as well as analog to digital converter is implemented for correcting drift and angular motion through all orientations. The mechanical design will have miniature or hybrid stepper motors with associated mechanical elements to move the limbs on all the axis like up/down ,roll, elevation and azimuth.

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Non-powered, yet active orthosea can be used to control sow d e w s of freedom (e.g., the knee cage provides stability in the lateral direction and allows flexion and extension). Active orthoses can use body pow of joints that are non-paralyzed to drive the paralyzed one. Bodily powered orthoses use the principles and methods described in Section 4.4.1 on bodily powered prosthetics. Externally powered orthoses use actuators to generate joint movement.

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The development of a successful exoskeleton for human performance augmentation (EHPA) will require a multi-disciplinary systems approach based upon sound biome-chanics, power generation and actuation systems, controls technology, and operator interfaces. The ability to integrate key components into a system that enhances performance without impeding operator mobility is essential. The purpose of this study and report are to address the issue of feasibility of building a fieldable EHPA. Previous efforts, while demonstrating progress and enhancing knowledge, have not appro-ached the level required for a fully functional, fieldable system. It is doubtless that the technologies required for a successful exoskeleton have advanced, and some of them significantly. The question to be addressed in this report is have they advanced to the point of making a system feasible in the next three to five years? In this study, the key technologies required to successfully build an exoskeleton have been examined. The primary focus has been on the key technologies of power sources, actuators, and controls. Power sources, including internal combustion engines, fuel cells, batteries, super capacitors, and hybrid sources have been investigated and compared with respect to the exoskeleton application. Both conventional and non-conventional actuator technologies that could impact EHPA have been assessed. In addition to the current state of the art of actuators, the potential for near-term improvements using non-conventional actuators has also been addressed. Controls strategies, and their implication to the design approach, and the exoskeleton to soldier interface have also been investigated. In addition to these key subsystems and technologies, this report addresses technical concepts and issues relating to an integrated design. A recommended approach, based on the results of the study is also presented.

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