Research performed in the area of haptics has produced some remarkable results with a variety of haptic devices. However, haptic-based applications are designed to consider only a particular haptic device. Therefore, the functionality of a haptic-based system is limited by the chosen device’s features, such as workspace, device’s inertia, friction, number of points of interaction, number of degrees of freedom, and maximum force that can be exerted. In short, these haptic-based systems are limited for use with a certain haptic device. Without a doubt, the need for a software tool to adapt existing haptic-based systems to the capabilities of another haptic device is evident. On the other hand, one of the main advantages of using haptic devices is the possibility of saving data during the haptic interaction. Our proposed framework, which is called Adaptive Haptic Application (AdHapticA), deals with both issues: It automatically adapts a haptic-based system to be used with another haptic device and saves the corresponding haptic data for quantitative evaluation. The AdHapticA framework can be used to study the feasibility of certain haptic devices to meet the requirements of an application. A case study is presented to evaluate single-point interaction and hand exoskeleton haptic devices for authentication purposes by using the same virtual scenario. The applicability of the proposed framework is shown, and the results obtained from the haptic data are captured when a particular application is performed with either single-point (desktop device) or multipoint interaction devices (hand exoskeleton). Therefore, the results have shown that current hand exoskeleton devices are less suitable for tasks that require a certain level of precision, like haptic-biometric-based tasks.

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Rehabilitation devices require a very precise actuating system. In this paper, a flexible joint actuator is proposed as an actuating system of an intelligent active orthosis. To generate joint torque as desired, a spring is installed between a motor and human joint and the motor is controlled to have a proper spring deflection for torque control. When the desired torque is zero, the motor should follow human joint motion which requires that the friction and inertia of the motor are compensated. The human joint and body part represent the load to the flexible joint actuator. They interact with environment and their parameters are not fixed. The controller for the flexible joint actuator must operate under these conditions.

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A «muscle suit» that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. Applying the muscle suit to non-healthy people such as elderly people and/or disable one requires very high-level safety and usability, from the practical point of view. We then in the first place for the practical use, apply the muscle suit to the manual worker. In this paper, we introduce how we can apply the muscle suit for the manual worker.

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Evaluations for gait rehabilitation is difficult because gait parameters change with individuals and situations, such as walking speeds and step length. Doctors suggest proper rehabilitation programs for patients after performing initial clinical evaluations. For the use of design and control of the NaTUre-gaits (natural and tuneable rehabilitation gait system), this paper provides a clinical analysis through an EMG measurement study. A methodology for gait qualitative evaluation is proposed, based on repetition, symmetry, and smoothness characteristics of the walking muscle activation pattern. Clinical trials conducted at a local hospital verify the methodology with comparison between healthy person walking and patient walking. Result has shown the effectiveness of the evaluation methodology developed in this study.

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Recently, It has become a rapidly aging society. Coupled with a decrease in the number of farmers, this has becomes a serious problem in agriculture. Agricultural work includes a great deal of heavy work and special work postures, imposing a large physical strain on farmers. Therefore, we developed the Wearable Agri-Robot, which was designed as an exoskeletal mechanism to assist in the wearer’s work. This study evaluates the degree of freedom realized by forcusing on the range of motion of the joints. Using this method, we evaluated the articular structure of the Wearable Agri-Robot. We investigated the possibility of using it to assist in agricultural work by analyzing the motion required for thie type of work. In this work, we narrowed down the intended operations to the harvesting of Japanese radishes, and validated the effect of the Wearable Agri-Robot on the wearer using myoelectric potential measurement. As a result, it was ascertained that wearing the Wearable Agri-Robot could alleviate the burden on wearer by assisting with agricultural work.

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