In this paper, a model based interactive torque estimation method for exoskeletons is proposed. For this purpose, the dynamic model based disturbance observer (DOB) is adopted to estimate the interactive torque instead of using force/torque sensors. Also, a parameter identification method is applied to enhance the precision of estimated torque against various uncertainties in the dynamic model. In order to classify interactive torque from the estimated disturbance signal of DOB, the information on generated actuator torque is required. By the actuator impedance model, the generated actuator torque can be estimated precisely. The proposed methods were implemented in SUBAR (Sogang University’s Biomedical Assist Robot) and verified by experiments.

Категория: Ищем научные статьи | Нет комментариев »

This paper describes a novel ground development facility that is currently being built at the European Space Agency. The facility can be used to develop and test new man-machine interfaces for tele-control of dexterous space manipulators. Furthermore, the facility allows comparing performance of existing input devices, such as conventional joysticks, with novel devices, such as exoskeletons. The ground testbed allows conducting tele-manipulation experiments with a real robot and to measure performance metrics during remote operations. The experimental comparisons planned to be undertaken with the test-bed are outlined

Категория: Ищем научные статьи | Нет комментариев »

It is well-known that virtual reality (VR) is a powerful and promising computer-based technology for the motor recovery in stroke patients. The importance of using VR into arm rehabilitation has coined it as clinical VR; where its main sake is to improve the recovery process of post-stroke patients. In this regard, physical therapy and occupational therapy are provided by such technology. As we shall see into this contribution, interesting clinical VR applications have been designed for handling effectively the brain plasticity in chronic stroke patients. To this end, we use the so-called Light¿Exoskeleton which has been presented for arm-robotic therapy such that it serves as the kinesthetic feedback stimulator for assisting the patient during the rehabilitation sessions.

Категория: Ищем научные статьи | Нет комментариев »

This paper presents a new portable exoskeleton design for superior limbs by the CEA-LIST laboratories. The first model described here (4 axis) is designed to apply forces in 3 directions. The first application is foreseen as an assistance device to enable a disabled person to carry an object such as a teapot or water bottle. It is designed as a base for more complete systems. A partial realization of it is presented for the first time. The high potential of the actuators used both in terms of back drivability and force capacity, allows hybrid force-position control laws making it possible to cover a broad range of applications: rehabilitation, assistance, force feedback master arm for telerobotics, sport training, and a virtual reality workbench

Категория: Ищем научные статьи | Нет комментариев »

A wearable exoskeleton robot, Skil Mate, is a new concept that can assist skilled workers in power as well as in skill. Skil Mate is composed of servo mechanisms and haptic devices (tactile or slipping-off sensors/displays), so that it can follow the workers’ movement. Skil Mate is suitable for work in hazardous environments such as in space, under sea, etc. The goal of the project is to develop a prototype model of the wearable robot for a spacesuit, which consists of an upper torso assembly and a pair of arms with gloves

Категория: Ищем научные статьи | Нет комментариев »