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We aim at experimental verification of the efficiency of natural-motion path tracking (i.e. tracking speed in proportion to the determinant of the Jacobian) in comparison to constant-speed path tracking. This is done first via simulations, with a simple planar manipulator and then with a six-DOF manipulator. From the results it becomes apparent that natural-motion path tracking outperforms constant-speed...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion...
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,...
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...
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...
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