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This study developed an underactuated lower extremity exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular-type wearable system and its corresponding sensor systems are proposed. To operate the system with a user, human walking analysis and intention signal acquisition methods for actuating the proposed system are developed. In particular, a sensing data estimation strategy is applied to correctly synchronize the exoskeleton system with a user. Finally, several experiments were performed to evaluate the performance of the proposed exoskeleton system by measuring the electromyography signal of the wearers muscles.

This paper presents a 3 DOF (Degrees Of Freedom) planar hopping machine running in a simulation software environment. The purpose is to use this approach to study the control, simulation and design of legged robots and exoskeletons. The control system allows the machine hopping in place after fall with his leg a little inclined, then hopping forward, then hopping backward and then stop hopping in place. Hopping machines are the most simplified dynamic model capable of representing the elastic behaviour of the legs of mammals and insects in running and hopping. The results of the simulation presented shown that pelvic tilt observed in human running is also observed in the hopping machine running model. This encourages the modelling of anthropomorphic legs for use in human running simulations with hopping machine models and control strategies.

Research on lower-limb exoskeletons and active orthoses is a growing field in service robotics. Nowadays commercial active orthoses present stiff joints but for the intrinsic human-machine interaction task, these actuators need to exhibit compliance. Moreover, they must be powerful enough to move the user limbs while keeping small size for not to bother the user motion and show an aesthetic appearance. In this paper we present the development and main characteristics of a joint prototype with variable stiffness that achieve these requirements. This actuated joint has been implemented in the knee of ATLAS active orthosis. A state machine control scheme takes advantage of the leg dynamics and of the actuator features, achieving a natural, compliant gait without the need of commanding a CGA based pattern. A reduction in the energy expenditure while keeping compliant to accommodate unexpected disturbances is obtained.

Low volume industrial productions are rarely highly automated because of the related costs. Variable production requires flexible automation with close human robot interaction. An exoskeleton may exactly provide these features to enhance industrial production. This article highlights the difficulties related to using exoskeletons in an industrial setting. Moreover, it introduces the Robo-Mate project – an EU funded project – targeted to address the application of an exoskeleton in industry.

Papers from the design orientation, functional design, human-computer interaction, technical principles, product placement and product modelling, six aspects of high-speed type exoskeleton carrying line man-machine system, are described in detail in the key design.

This paper presents investigations for development of an assistive exoskeleton device for elderly mobility. This exoskeleton is designed to enhance the lower limb and provide support torque in order to augment the torque of knee and hip during the walking cycle. PID Control is designed and implemented in this work. Due to the complexity in identifying the lower limb musculoskeletal system with traditional mathematical approaches, the visual Nastran 4D software is used for development of simulation model of the exoskeleton and a humanoid. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

This work presented in this paper focuses on development of assistive robotic control approach for the upper extremities. A set-point tracking position control structure with proportional, integral and derivative (PID) controller is considered. A spiral dynamic optimization algorithm is utilized for tuning of the PID gains. The control strategy is tested and evaluated within simulation model of upper extremities. The results show that good position tracking performance is achieved with the developed control approach.