A method for actuating a mechanism imposing a prefixed relative movement between a first and a second rigid link and a hand exoskeleton obtained by utilizing the method. The mechanism includes revolute joints and may be a parallelogram mechanism, a pantograph remote center of rotation mechanism, or a multiple-degrees-of-freedom mechanism. The method provides coaxially arranging at one or more selected revolute joints a number of idle pulleys which are greater than the number of degrees of freedom of the mechanism, the first of the selected revolute joints preferably having its rotation axis fixed with respect to the rigid link; the method also provides arranging an inextensible cable between a traction point and a terminal point on the mechanism or on the second rigid link. By pulling the inextensible cable at the traction point, a multiplied torque is produced which is the sum of singular torques produced by the inextensible cable at each idle pulley, the multiplied torque causing a relative movement between the links.

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A modular body armour system (100) includes an upper shoulder harness (102) in which shoulder straps (106, 108) are pivotally rotatable relative to each other and also to front and back connecting bridges (112, 114) that define a closed loop for the harness (102). Armour plates (124, 126) are attachable to the bridges (112, 114) and extend generally downwardly to protect the front and back torso regions of a wearer of the body armour (100). Pivotal articulation of the body armour (100) permits the armour to roll advantageously with the movement of its wearer such that movement, such as crouching or the adoption of a firing position, is not generally restricted. A lower girdle (104) incorporates additional plates and panels (140, 142, 105, 152) to provide enhanced protection to the wearer, which lower girdle (104) may be entirely independent of the upper shoulder harness (102). By providing for chest expansion through an elasticated connection within both the shoulder harness (102) and the lower girdle (104), a wearer is placed under less physiological stress during times of exertion and mental stress, thereby improving the overall performance of the wearer.

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This paper introduces a bimanual haptic interface robot and presents results from its trial operation. Our aim in developing a bimanual haptic interface is to display high-precision three-directional forces at all 10 fingertips of both hands of the operator. By installing two five-fingered robot hands and two robot arms, we construct a bimanual haptic interface. A haptic interface that consists of robot hands and robot arms can provide multi-point contact between the operator and a virtual environment. However, there is the risk that robot hands and robot arms will collide while an operator is manipulating the haptic interface. To solve this problem, we also propose a collision avoidance control law for the multi-fingered bimanual haptic interface. Finally, to determine the validity of the proposed interface, we carry out several experiments. These results show the validity and great potential of the proposed bimanual haptic interface.

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Full or partial loss of function in the lower limb is an increasingly common ailment associated with a wide range of injuries, disease processes, and other conditions including sports, occupational, spinal cord injuries, and strokes. Some people are even born with disabilities. To treat such abnormalities, large number of physiotherapy exercises is used which are labour intensive requiring high levels of one to one attention from highly skilled medical personnel. Prior to the introduc-tion of machine assistance, physical therapists have had to manually move the patient’s limbs. This leads to two problems, repetition and strain. The physical therapist is not able to precisely duplicate the movements each time. The machines are capable of doing so, leading to a superior rehabilitation for the patient. The therapists experience strain from having to move the patient’s limbs. To solve the above problems, a device has been developed that helps the disabled ones to perform flexion and extension of lower limbs. It is a framework made up of aluminum, with knee joints and an actuator attached to it, which has to be worn. The complete setup weighs not more than 2 kg. The aim of the project is to generate walking mechanism using PSOC microcontroller.

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A system for controlling a machine by cortical signals, including: a mechanism acquiring electrophysiological signals originating from a plurality of locations in the cerebral cortex of a human or animal subject; a producing device adapted to input the electrophysical signals and output control signals from the machine in response to predetermined variations in the characteristics of the electrophysiological signals. At least some of the electrophysiological signals are from predetermined cortex regions and not associated with any performed or imagined activity nor with any sensory stimuli visualized by the human or animal subject. A method for controlling a machine by cortical signals can use such a system.

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