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Backdrivability is a keyword with rising importance, not only in humanoid robots, but also to wearable robots. Power assist robots, namely exoskeletons are expected to provide mobility and independence to elderly and people with disability. In such robots, without backdrivability, error between human and robot motion can be painful; sometimes dangerous. In this research, we apply a type of hydraulic...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
In this study, basic research to obtain biomechanical parameters for optimized design of wearable walking assistant robot was presented and discussed in the condition of its application to the dynamic analysis of gait. Numerous studies are being conducted in order to develop intelligent walking assist devices. However, the reliability, effectiveness and durability of such intelligent walking assist...
The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper,...
Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper...
There are 10 to 20 millions polio survivors living around the world. Some of them cannot move their limbs by themselves. They feel inconveniences at several situations: climbing stairs; moving in a narrow space; walking. It is very difficult for polio survivors, who have permanent paralysis, to restore motor functions by using conventional rehabilitation approaches. Our aim is the assistance of motor...
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed...
The paper presents an introduction of virtual reality environments to the commercial single-joint rehabilitation robot. A dynamometer has been modified to the level that enables gait goniogram based position control. The robot mimics the isolated joint movement while the subject is required to perform the task in the virtual environment. The subject generates joint torque to control the object in...
Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent...
Exoskeletons are attracting a great attention as a new means of rehabilitation devices. In such applications, control algorithms of exoskeletons are often inspired by nature for natural and effective assistance for patients. In this paper, a control algorithm is inspired by aquatic therapy. Aquatic therapy has various benefits for rehabilitation processes based on useful properties of water, e.g....
Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control...
The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need additional support during patient-cooperative training...
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