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Medical exoskeletons are robotic devices that provide paraplegics with the ability to ambulate again. There are four current market leaders in the industry: REX, by Rex Bionics; ReWalk, by Argo Medical Technologies Ltd; Ekso GT, by Ekso Bionics; and Indego, by Parker Hannifin. A weighted table-based method was used to evaluate the capability of these four devices, which was then compared to their...
In supervised machine learning applications, a data set of training and validation features and labels is required to train a neural network. In this paper, we present a remote-controlled, mobile robot and describe software used to generate a data set for vision-based, supervised machine learning applications. We present results from an experiment, which validates the developed platform, and also...
There exists a range of feature detecting and feature matching algorithms; many of which have been included in the Open Computer Vision (OpenCV) library. However, given these different tools, which one should be used? This paper discusses the implementation and comparison of a range of the library's feature detectors and feature matchers. It shows that the Speeded-Up Robust Features (SURF) detector...
In typical chemistry experiments, there are many manual processes; chemistry automation is the process of automating these. In this paper, we describe work done to develop end-effectors that extend current capabilities of chemistry automation plants. The hierarchy established, the design process employed, and four end-effectors: the “Claw”, “Balloon”, “Cross”, and “Band” are presented, described,...
Wearable assistive devices assist rehabilitation and recuperation; however, their development is impeded by traditional control paradigms. Presented is a novel control structure for a WAD, whose joints are antagonistically actuated by pneumatic McKibben actuators. Here, we discuss the actuators and controller's two sub-sections: the joint torque controller and the differential pressure controller...
Wearable assistive devices (WAD) assist rehabilitation and recuperation. However, WADs' development is impeded by traditional actuators and current control paradigms' lack of compliance and adaptability, in contrast to the mammalian central nervous system. A limb's joint's compliance is a function of muscles' level of activation and passive viscoelastic properties. Increased equal and unequal co-activation...
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