In this paper we propose a framework for synchronization based control (SBC) using neural oscillators for motion assist. A neural oscillator is used to accomplish synchronization and entrainment between periodic motions by the human and robot. The mutual joint torque between the human and robot is used as an external input signal for the neural oscillator, which generates the desired trajectory of a robot joint angle, so that the robot motion synchronizes with the external mutual joint torque. The validity and feasibility of the proposed method is examined from three points of view. The first is whether synchronization of action between human and robot can be realized. The second is whether the assist effect can be obtained, and the third is whether the proposed method has an acceptable level of usability for the user. We explored those three points of view by conducting computer simulations on a human-motion assist system and experiments with a joint torque sensing robot suit.

Категория: Ищем научные статьи | Нет комментариев »

A «muscle suit» that provides muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The lack of a metal frame and use of McKibben artificial muscle allow the muscle suit to be lightweight, making it realistic to use in daily life. Although all motion for the upper limb by the armor type muscle suit with the mechanical joints and hard frame is realized, shoulder joints has difficulty in smooth motion because of DOF limitation. To overcome the limitation, new link mechanism is proposed and smooth motion for shoulder is achieved.

Категория: Ищем научные статьи | Нет комментариев »

The paper deals with the preliminary treatment of the problem of the determination of the relationship between the kinematics and the effective set of wrenches that a mechanical device can exert on the limbs of a human operator. The definition of force replicating devices (FRDs) is given together with a first classification related to their topological features. The analysis of force replication is initially carried out by considering the kinetostatic analysis for a generic mechanical device: the set of replicable wrenches is calculated on the basis of its kinematics properties. Examples are gives by considering two different types of FRD. The aim of the research is the determination of the kinematics features of an ideal FRD capable of replicating the desired set of wrenches to the specific human body part

Категория: Ищем научные статьи | Нет комментариев »

Healthcare is a complex system, so effective technologies and algorithms required to obtaining optimal benefits and results. Also, healthcare has a very large domain but as an engineer we can see that many common algorithms are used for healthcare engineering today’s. In this study, we want to review soft computing approaches used for analyze biosignals in healthcare technology issues and specially assistance devices. By attention to variety of assistance devices we can’t mention to all published papers in this area. Actually, we will try to introduce some significant algorithms by order of time to provide a good perspective of this area. It must be noted that we don’t select papers only based on the number of their citation. But also, some significant papers that are not mention too much, for any reason, are introduced.

Категория: Ищем научные статьи | Нет комментариев »

In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. In this paper, the fundamental characteristics of ASSIST is described, and then the effectiveness of this splint is experimentally discussed. Finally, the operation of ASSIST based on a human intention is described.

Категория: Ищем научные статьи | Нет комментариев »