We have developed the exoskeletal robotics suite HAL (Hybrid Assistive Leg) which is integrated with human and assists suitable power for lower limb of people with gait disorder. This study proposes the method of assist motion and assist torque to realize a power assist corresponding to the operator’s intention. In the method of assist motion, we adopted Phase Sequence control which generates a series of assist motions by transiting some simple basic motions called Phase. We used the feedback controller to adjust the assist torque to maintain myoelectricity signals which were generated while performing the power assist walking. The experiment results showed the effective power assist according to operator’s intention by using these control, methods.

Категория: Ищем научные статьи | Нет комментариев »

The system studied consists of a human operator, a stick driven by the force generated by the human hand, and a plant (e.g., a robotic arm) whose input comes from the stick. The system output is the position which is to be placed on a specific location by the human operator. The force from the stick output can be fed back (as a reflected force) and combined with the force applied by the human. The goal here is to study the effects of the reflected force feedback on the skills of the human operator. The recently induced probabilistic skill index is used to evaluate the performance of the operator performing specified tasks. The tasks are quantified by means of difficulty index. Four cases of different reflected feedback loops are studied. For each case, experimental data were collected when a human operator was performing a task of a known difficulty index. The probabilistic skill index is then used to quantify the effects of the reflected force feedback loop. Thus, this study provides evidence for evaluating the relative effects of the reflected forces on operator’s skills in the teleoperation

Категория: Ищем научные статьи | Нет комментариев »

A new conceptual solution is presented for the problem of providing force feedback for virtual reality, concentrating on potential CAD/CAM applications. The essential concept is that force feedback is provided by interactions between the human operator and specialized external (as opposed to worn) robots. This is called «robotic graphics» to express the analogy between robots simulating the feel of an object, and graphics displays simulating its appearance. This is illustrated by introducing the derivative concepts of «robotic shape displays» and «roboxels.»

Категория: Ищем научные статьи | Нет комментариев »

Developments in telepresence have served to demonstrate the requirements for an advanced realistic user interface to remote and virtual entities. Most of these applications have concentrated on visual and audio feedback but recent research has highlighted the need for tactile input, control and feedback. This paper reports on the operator input/feedback robot sensory/control aspects of a dexterous manipulation system possessed of two arms (left and right) and two dexterous multi-jointed skeletal `hands’. The operator input units developed include a light weight 7 degree of freedom arm exoskeleton combined with a cutaneous tactile feedback glove providing finger input control and tactile feedback of contact force, vibrational and thermal data in a system with an overall mass of less than 0.75 kg. This provides a user friendly system that can be used for extended periods without excessive strain

Категория: Ищем научные статьи | Нет комментариев »

Robotic training following stroke is an emerging rehabilitation technique to facilitate neuromuscular plasticity for regaining functional movements. Most existing training robots follow a defined task-based trajectory in assistive or resistive mode. Whilst this approach may be effective in certain cases it does not allow training of arm or leg in a natural way as the motion is precisely guided by the robot or exoskeleton. The ideal training would be to allow arm/leg follow a trajectory naturally without any augmented support and bring it back when the limb is diverted significantly from the goal. This paper presents implementation of this approach in a virtual environment using a simple force feedback joystick. This will guide the arm within a tunnel of trajectory by providing assistance or resistance depending on location of the arm. The technique can be extended for 3-dimensoional arm movement which can help learn neural plasticity naturally.

Категория: Ищем научные статьи | Нет комментариев »