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This paper reports support effects of an exoskeleton system for activities of a hand and an upper limb of a healthy person. The support system augments human forces of a hand, a wrist joint and an elbow joint based on bioelectric potential of each muscle so that the upper limb could be assisted by the exoskeleton with a certain rate of wearer's force. Actuators in the assistive system are replaced...
In our current research, we are developing a robotic walker system with standing, walking and seating assistance function. Our developing system is based on a walker which is popular assistance device for aged person in normal daily life and realizes the standing and seating motion using the support pad which is actuated by the novel assistance manipulator mechanism with four parallel linkages. In...
This paper presents the control architecture and preliminary experimental results of a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design suitable control algorithms for diagnostic, training and rehabilitation of the ankle in presence of musculoskeletal injuries. A position control scheme is used for patient-passive exercises while an admittance control...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing application flexibility. Experimental results of...
This paper presents progress towards the development of an anthropomorphic 16 degree of freedom, 4 degree of mobility prosthetic hand for use by transradial amputees, named SmartHand. The hand is provided with 40 proprioceptive and exteroceptive sensors in the fingers and with a customized control architecture embedded in the palm. The compact size and weight will allow its use to a wide range of...
Conventional trans-femoral (TF) prosthesis adopts body-powered actuation manner, in which flexion and extension of knee joint rely on the movement of residual limb and body weight of amputee and is controlled by adjustable damping force output by pneumatic or hydraulic cylinder mounted on the TF prosthesis. This manner, however, suffers from the deficiency of driving torque when carrying out some...
In this paper, we present the design of a new fMRI compatible haptic interface with 3DOFs, based on electrical DC actuation, for the study of brain mechanisms of human motor control. In order to evaluate the validity of the proposed solution, we performed some preliminary experiments with a single degree of freedom device to test the compatibility with the fMRI environment. The 1DOF design was extended...
This paper presents a recent study about a development of an original, cable-driven and compliant robotic wrist (ARTS wrist). The ARTS wrist presents two degrees of freedom; the mechanism is composed by two platforms connected by a thrust spring (working as a flexible joint) and by three cables placed and clamped corresponding to vertex of an equilateral triangle centred in the longitudinal axis of...
The goal of modern prosthetics is to replicate the function of the replaced limb or organ in the most capable and discreet fashion possible. However, even the most advanced, commercial, transtibial prostheses available today only passively adjust the position of the ankle during the swing phase of gait and return a portion of the userpsilas own gravitational input. To greatly improve the quality of...
This paper presents the design of a flexible, embedded control architecture for the action and perception of an anthropomorphic 16 degree of freedom, 4 degree of actuation prosthetic hand for use by transradial amputees. The prosthetic hand is provided with 40 structurally integrated sensors useful both for automatic grasp control and for biofeedback delivery to the user through an appropriate interface...
This work presents the design and evaluation of knee joint controllers for an above-knee prosthesis. The prototype is a three degree of freedom prosthesis which is planned to be controlled in part by EMG thigh signals, in part by a predictive trajectory generator based on multisensorial data such that the foot can be correctly positioned with respect the floor. There is described a simplified non-linear...
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