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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...
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...
This paper proposes motion instruction system with the interactive robot suit HAL (hybrid assistive limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearer's body, but also can be applied to motion instruction...
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...
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....
Walknet, a biological inspired neural network, has been proposed to control walking of a 6-legged; 18 DoF walker. Control of stance movement is difficult because all legs in stance are mechanically coupled. Based on the idea of velocity feedback, recently a specific revision, local positive velocity feedback, has been proposed to solve this problem using an extremely decentralised architecture. In...
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