We propose a framework of realizing natural assist behavior with a walking assist suit inspired by human interaction. We look at the human interaction as a behavior of synchronization action, which is a common phenomenon in walking assist between human. To achieve this human-like walking assist, synchronization based control is adopted and applied to a walking assist suit. We use neural oscillators to entrain and synchronize the assist suit’s motion with that of human user. To determine the validity and feasibility, walking experiments have conducted with a 4-DOF walking assist suit. The results showed the validity of using synchronization based control for walking assist suit.

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Proper functioning of the shoulder, elbow, and wrist movements play a vital role in the performance of essential daily activities. To assist physically disabled people with impaired upper-limb function, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. The proposed ExoRob will be comprised of seven degrees of freedom (DOFs) to enable natural movements of the human upper-limb. This paper focuses on the kinematic and dynamic modeling of the proposed ExoRob that corresponds to human upper-limbs. For this purpose, a nonlinear computed torque control technique was employed. In simulations, trajectory tracking corresponding to typical rehabilitation exercises were carried out to evaluate the performances of the developed model and controller. For the experimental part, only 3DOFs (elbow, wrist flexion/extension, wrist abduction/adduction) were considered. Simulated and experimental results show that the controller was able to maneuver the proposed ExoRob efficiently in order to track the desired trajectories, which in this case consisted in passive arm movements. Such movements are widely used in therapy and were performed efficiently with the developed ExoRob and the controller.

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Embedded Robotics, Second Edition
Mobile Robot Design and Applications with Embedded Systems

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Disabilities that follow Cerebrovascular accidents (CVA) and spinal cord injuries (SCI) severely impair motor functions and thereby prevent the affected individuals from full and autonomous participation in daily activities. Several studies have shown that virtual reality (VR) is a technology suitable for rehabilitation therapy due to its inherent ability of simulating real–life tasks while improving patient motivation. In this paper we present our research focuses on the development of a new rehabilitation therapy based on a VR system combined with wearable neurorobotics (NR), motor-neuroprosthetics (MNP) and brain neuro-machine interface (BNMI). This solution, based on hybrid technology aims to overcome the major limitations of the current available therapies. This paper is focused on the Virtual Reality concepts used for the development of the HYPER rehabilitation system.

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Many researchers insist that the field of haptics is still in its infancy. Most of the challenges discussed in the next sections are hot research topics in this field, and some of them are currently being studied. Advances on each of these described fronts are certainly to be expected in the near future. As the prices of haptic devices drop, gaming industries will be the first ones to take notice and exploit the technology to complement their playing consoles, thereby creating a significant advantage over their competitors. Home rehabilitation applications will most certainly follow. Governments are desperate to reduce healthcare costs, so development of practical applications of this sort would be encouraged and funded. In addition, haptic technology will undoubtedly gain an important place in the education sector. New educational approaches rely on visual and auditory demonstrations to describe unintuitive concepts to students; the incorporation of the sense of touch is simply a natural progression of this trend to newer media. The field of networked haptics will be the last to see any considerable advances. This is mainly due to the fact that it relies heavily on the state of the network. Haptic applications have stringent QoS requirements that most nondedicated networks cannot guarantee. Until these network infrastructures are upgraded, networked haptic applications will continue to struggle from the lack of QoS guarantees. Last but not least, increased computing power will allow for the implementation of complex, multi-point, physics-based haptic rendering algorithms to support more natural interactions with a virtual or remote world.

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