This document presents the results of work package WP1 State of the art update where the more recent achievements in the scientific and technological domains addressed by the SATIN project are described. In particular, the domains addressed are the following: haptic technology, sound technology, visualization technology, shape modelling technology, and Human Computer Interaction.

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a haptic interface is made of
— a mechanical position tracker
— actuated joints
it is just a robot attached to a human. Locomotion interfaces refers to interfaces involving the human body /legs/feet and to natural or induced locomotion.

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Few of us are aware of the complex interactions between neural, mechanical, and sensory systems required to perform a task as simple as picking up a ball. To create a prosthetic arm capable of natural movement, it is necessary to mimic these sophisticated systems, as well as the intricate interactions between them, using cutting-edge actuators, sensors, microprocessors, and embedded control software. That was the challenge we faced when we embarked on the Defense Advanced Research Projects Agency (DARPA) Revolutionizing Prosthetics program.

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This paper presents the design and modeling results of an upper extre-mity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabili-tation training for weak and injured people without the continuous presence of a therapist. The exoske-leton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users.

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A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer is provided with an action-assist tool 2 having an actuator 201 which gives power to the wearer 1, a biosignal sensor 221 which detects a wearer’s biosignal, a biosignal processing unit 3 which acquires from a biosignal “a” detected by the biosignal sensor a nerve transfer signal “b” for operating a wearer’s muscular line skeletal system, and a myoelectricity signal “c” accompanied with a wearer’s muscular line activity, an optional control unit 4 which generates a command signal “d” for causing the actuator 201 to generate power according to the wearer’s intention using the nerve transfer signal “b” and the myoelectricity signal “c” acquired by the biosignal processing unit 3, and a driving current generating unit 5 which generates a current according to the nerve transfer signal b and a current according to the myoelectricity signal “c”, respectively, based on the command signal “d” generated by the optional control unit 4, and supplies the currents to the actuator 201.

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