Neurological injuries caused by stroke, spinal cord injury or other illnesses and accidents often lead to walking disabilities. If not properly treated, gait disorders can lead to impaired physical and mental health, reduced physical activity, falls, fear of falling, loss of independence and the need for continuous medical care. After an accident or the start of an illness it is important to start the patient’s gait rehabilitation process as soon as mental and physical conditions allow. Robotized rehabilitation systems have a number of potential benefits over traditional manual rehabilitation. These benefits include an increase in the effectiveness of the rehabilitation process, reduced costs of rehabilitation and reduced need for trained medical personnel. This paper presents details of the development of the concept of a mobile gait rehabilitation system consisting of a mobile base and powered exoskeleton. In particular, modeling and simulation of its mechanical system are considered. The presented simulation results demonstrate the need for including actuated translational degrees of freedom between the support platform and the exoskeleton to allow displacement of patient’s pelvis and practice of dynamically balanced walking.

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The following topics are dealt with: intelligent robots and systems; SLAM: features and bias issues; humanoid robots; human-robot interaction; sensor networks; sensors for robot localization; under-actuated manipulation; robot learning; mobile robot localization; robot audition; multi-robot systems; vision and applications; motion planning; unmanned aerial vehicles; SLAM: loop closing; bio-applications for microrobots; parallel manipulator analysis; incremental mapping; SLAM algorithms; haptic display; micro/nano manipulation; stereo vision; micro/nano sensing and manipulation; behavior learning; multi-modal sensing; vision calibration; task planning; planetary rovers; SLAM: data association; service robots; redundancy control; learning by interaction; contact dynamics; shape/profile measurement; visual servo; mobile robot control; underwater robots; range sensing based SLAM; demining robots; learning for robot control; tactile sensing; 3D SLAM; teleoperation; socially friendly robots; manipulator motion planning; neural controller for robots; actuators; range sensing; wheelchair robots; SLAM: map building; human-robot emotion; biomimetic robots and systems; compliant motion control; probabilistic methods in robotics; force/torque sensing; welfare robots; bearing only SLAM; biped robots; interaction and intelligence; telemanipulation; vision for reconstruction and monitoring; control of flexible robots; neural fuzzy computing; grasp planning and optimization; real-time vision; cooperative sensing; vision and environmental structure; snake robots; surgical robots; vision based SLAM; exoskeletons; time-delay in teleoperation; mobile robot scheduling and coverage; sliding mode control; robot software and programming; multi-fingered manipulation; vision sensors; multi-robot control; vision and planning; new concepts and techniques in teleoperation; unique robots and their control; grasp analysis; face/person recognition; pattern formation and control; vision architectur

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The following topics are discussed: biologically inspired systems; biomechatronic systems; prostheses; human-machine interaction; exoskeletons and augmenting devices; neuro-robotics; rehabilitation and assistive robotics; modelling interactions; microrobotic systems; robot locomotion; surgery and diagnosis; micro-nano technology in medicine and biology.

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This paper presents the design of an assistive real-time system for the upper limb disabled to access a computer via residual muscle activities without standard computer interfaces (e.g. a mouse and a keyboard). For this purpose, electromyogram (EMG) signals from muscles in the lower arm were extracted and filtered using signal statistics (mean and variance). In order to control movement and clicking of a cursor from the obtained signals, six patterns were classified, applying a supervised multi-layer neural network trained by a backpropagation algorithm. In addition, an on-screen keyboard was developed, making it possible to enter Roman and Korean letters on the computer. Using this computer interface, the user can browse the Internet and read/send e-mail. The developed computer interface provides an alternative means for individuals with motor disabilities to access computers. A possible extension of our interface methodology can be incorporated in controlling bionic robot systems for the limb disabled (e.g.exoskeletons, limb prostheses).

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Assistive knee brace is a species of wearable lower extremity exoskeletons. Such assistive equipment can enhance people’s strength and provide desired locomotion to have advantages over wheelchairs, which are commonly used for patients with mobility disorders. However, the integration between the assistive knee brace and the user is challenging as inaccurate alignments may adversely affect the biomechanics of the knee joint. The goal of this study is to evaluate the changes between normal walking and walking with an assistive knee brace in “off” mode. The assistive knee brace was developed by integrating a multifunctional actuator with a custom-made knee-ankle-foot orthosis in order to minimize excessive shifting and to improve alignment to the knee joint. Spatial and temporal gait parameters, joint kinematics and joint kinetics parameters were compared. In general, the observed results showed that most of the gait parameters were not affected when walking with the knee brace. The only significant differences were found in knee flexion and knee rotational motions. These results indicated that walking with the developed knee brace provided minimal hindrance to the user and assured that assistive torque can be applied to the knee joint.

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