A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.

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A human with muscle weakness can wear a rehabilitation device, e.g. exoskeleton, to receive support during walking. However, how can this support be adjusted in real-time to the intention of the user? The given support should be intuitive, user-specific, compliant and robust to sensor noise. We suggest the use of an adaptive oscillator which can detect the frequency and phase of the user’s gait. The designed oscillator-based controller is capable to adjust the support in real time, based on reliable joint angle measurements. The adaptive oscillator determines the position and velocity reference trajectories, based on the measured joint angles. The controller uses these reference trajectories to attract the current angle respectively velocity. This is part II of a two-part paper. In part I of this paper the controller is optimized using simulations. In part II the performance of the optimized oscillator-based controller is determined for the ankle joint using specially designed pneumatic ankle foot orthoses (PAFO). The PAFO actuate the plantar exion movement with pneumatic muscles. The performance of the controller is analyzed measuring the activity of the Tibialis Anterior and Gastrocnemius Medialis with electromyography (EMG). The oscillator-based controller found the same reference joint angles and velocities in real time compared to the optimization. The desired exoskeleton torques are comparable to the simulations, but the amplitude is lower. The support decreased the EMG activity of the Gastrocnemius Medialis. However, the lack of transparency of the PAFO increased the EMG of the Tibialis Anterior. Overall the oscillator-based controller can give a user-specic support by detecting the gait frequency and learning the gait trajectory. The specially designed PAFO can measure the performance of controllers on humans objectively. The EMG of the Gastrocnemius Medialis can decrease more, when the transparency of the PAFO is increased.

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The main goal of this dissertation is to investigate the biomechanics of octopedal and quadrupedal locomotion in terrestrial animals, common determinants, advantages and limits, in particular of the asymmetric gaits. Two different approach have been chosen: i) a kinematic study of a terrestrial spider, the Brazilian giant tawny-red tarantula, an octopods predator species that hide in burrows, ambush and rapidly bounce the prey with a sprint, and ii) a comparative study of the two types of gallop of the cursorial terrestrial mammals. Eight-legs locomotion has been one of the first travelling modes on land, and spiders display one of the most versatile locomotor repertoire: they move at slow and fast speed, forward-backward-sideways, they climb and even jump, both on firm terrain and from the water surface. Spiders can walk in the two senses at the same speed, just by reversing their diagonal footfall scheme. They turn on the spot like an armoured tank, with opposite direction of the two treads of limbs. Also, the high number of limbs ensures an increased locomotor versatility on uneven and rough terrains, particularly in the likely unawareness of each endpoint location on the ground.

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This report describes the design and construction of an oversized, ruggedized treadmill built for testing heavy loads. The design permits for speed and slope control, as well as a safety tether and emergency stops. The design description is categorized by related systems. The walking belt is powered by an electric motor, which transfers the mechanical rotation via hubs, a linkage belt and rollers. The floor and surface base are sized and designed for proper operation and clearance. The electronics board provides electric power, speed control, and a powered braking system. Safety features are designed for user protection: guard rails, covers, a gantry crane and tether, and emergency stops. Operation is possible for an incline range of -30° to +30° at 22 increments from the horizontal, and speeds of up to 10 mph with a granularity of 0.01 mph. The larger than usual size and strength allows for extensive usability and testing, for a successful and well-functioning apparatus.

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Inthis paper we present the kinematic analysis of a 12-internal-DOF (three-dimensional and anthropomorphic) biped robot, the Scout Lynxmotion c , towards a ZMP-based control. Since there are only few contributions that contain explicit models of similar robot s, but not exactly this one, our first goal was to generate a kinematicdynamic model that will let us study and control the locomotion of the biped. As the space is limited, this paper is restricted to the presen-tation of the representative steps of the kinematic modeling and the computation of the ZMP, which are then evaluated by numerical simulations. The dynamic model, which has been already obtained, will be published later on.

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