Autonomous Assistance As Needed Control Of A Lower Limb Exoskeleton With Guaranteed Stability

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Autonomous Assistance-as-needed Control of a Lower Limb Exoskeleton with Guaranteed Stability

Author : Samuel Campbell
Publisher :
ISBN 13 :
Total Pages : 95 pages
Book Rating : 4.:/5 (129 download)

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Book Synopsis Autonomous Assistance-as-needed Control of a Lower Limb Exoskeleton with Guaranteed Stability by : Samuel Campbell

Download or read book Autonomous Assistance-as-needed Control of a Lower Limb Exoskeleton with Guaranteed Stability written by Samuel Campbell and published by . This book was released on 2020 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower-limb stroke rehabilitation is physically demanding on therapists and requires the concerted effort of multiple staff members. Researchers have accordingly begun investigating the use of lower-limb exoskeletons for rehabilitation. Unfortunately, if the exoskeleton ensures the correct trajectory regardless of whether or not the user contributes effort, rehabilitation can be ineffective as the patient can begin to slack. Recent research suggests using assistance-as-needed control to facilitate functional motor recovery by only applying torques if the patient deviates too far from the desired trajectory. Assistance-as-needed control has been difficult to employ in lower-limb exoskeletons, however, due to the need to ensure stability. This work demonstrates how virtual constraint control—a method used in prostheses and assistive exoskeleton control with robust stability properties—can be combined with a velocity-modulated deadzone to ensure stability. The simulations suggest the method can accommodate a large deadzone while remaining stable across a range of gait pathologies.

Wearable Robots

Author : José L. Pons
Publisher : John Wiley & Sons
ISBN 13 : 0470987650
Total Pages : 358 pages
Book Rating : 4.4/5 (79 download)

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Book Synopsis Wearable Robots by : José L. Pons

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Wearable Robotics

Author : Jacob Rosen
Publisher : Academic Press
ISBN 13 : 0128146605
Total Pages : 551 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Wearable Robotics by : Jacob Rosen

Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications

Force Control Theory and Method of Human Load Carrying Exoskeleton Suit

Author : Zhiyong Yang
Publisher : Springer
ISBN 13 : 3662541440
Total Pages : 227 pages
Book Rating : 4.6/5 (625 download)

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Book Synopsis Force Control Theory and Method of Human Load Carrying Exoskeleton Suit by : Zhiyong Yang

Download or read book Force Control Theory and Method of Human Load Carrying Exoskeleton Suit written by Zhiyong Yang and published by Springer. This book was released on 2017-04-06 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest advances in concepts and further development of principal component analysis (PCA), discussing in detail a number of open problems related to dimensional reduction techniques and their extensions. It brings together research findings, previously scattered throughout many scientific journal papers worldwide, and presents them in a methodologically unified form. Offering vital insights into the subject matter in self-contained chapters that balance the theory and concrete applications, and focusing on open problems, it is essential reading for all researchers and practitioners with an interest in PCA

Locomotor Training

Author : Susan J. Harkema
Publisher :
ISBN 13 : 0195342089
Total Pages : 200 pages
Book Rating : 4.1/5 (953 download)

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Book Synopsis Locomotor Training by : Susan J. Harkema

Download or read book Locomotor Training written by Susan J. Harkema and published by . This book was released on 2011 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Physical rehabilitation for walking recovery after spinal cord injury is undergoing a paradigm shift. Therapy historically has focused on compensation for sensorimotor deficits after SCI using wheelchairs and bracing to achieve mobility. With locomotor training, the aim is to promote recovery via activation of the neuromuscular system below the level of the lesion. What basic scientists have shown us as the potential of the nervous system for plasticity, to learn, even after injury is being translated into a rehabilitation strategy by taking advantage of the intrinsic biology of the central nervous system. While spinal cord injury from basic and clinical perspectives was the gateway for developing locomotor training, its application has been extended to other populations with neurologic dysfunction resulting in loss of walking or walking disability.

Biped Locomotion

Author : Miomir Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642830064
Total Pages : 366 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Biped Locomotion by : Miomir Vukobratovic

Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.

Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement

Author : Management Association, Information Resources
Publisher : IGI Global
ISBN 13 : 1799881032
Total Pages : 791 pages
Book Rating : 4.7/5 (998 download)

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Book Synopsis Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement by : Management Association, Information Resources

Download or read book Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-12-18 with total page 791 pages. Available in PDF, EPUB and Kindle. Book excerpt: Along with the introduction of technology in nearly every facet of human life comes the question of the ethical side of using technology to improve the human condition, whether that be physically or mentally. The capabilities of human enhancement technologies have created a dual-sided approach to discussing human enhancement: the critical approach of attempting to reach human perfection and the ethics within that idea and the endless capabilities of technology that have greatly impacted the medical field. It is essential to discuss both aspects within these emerging technologies, whether as separate entities or as cohesive units. Ranging from disease detection and treatment to implants and prosthetics to robotics and genetic engineering, human enhancement technologies are widespread and multi-purposed. By going beyond the capabilities of human hands, these technologies have propelled modern medicine and healthcare to new levels that have allowed humans to face new treatments or assistive technologies not seen before. The Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement covers the primary technologies and tools being used in medicine and healthcare along with discussions on the ethics of enhancing the human body. Topics covered include prosthetics and implants, robotics, human disorders/diseases and treatments and smart technologies, along with law and theory. This publication serves as a valuable reference work for doctors, medical professionals, researchers, students, professionals, and practitioners involved in fields that include ethics, medicine, computer science, robotics, genetics, assistive technologies, nanotechnology, biomedical engineering, and biotechnology.

Handbook of Research on Biomimetics and Biomedical Robotics

Author : Habib, Maki
Publisher : IGI Global
ISBN 13 : 1522529942
Total Pages : 554 pages
Book Rating : 4.5/5 (225 download)

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Book Synopsis Handbook of Research on Biomimetics and Biomedical Robotics by : Habib, Maki

Download or read book Handbook of Research on Biomimetics and Biomedical Robotics written by Habib, Maki and published by IGI Global. This book was released on 2017-12-15 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomimetic research is an emerging field that aims to draw inspiration and substances from natural sources and create biological systems in structure, mechanism, and function through robotics. The products have a wide array of application including surgical robots, prosthetics, neurosurgery, and biomedical image analysis. The Handbook of Research on Biomimetics and Biomedical Robotics provides emerging research on robotics, mechatronics, and the application of biomimetic design. While highlighting mechatronical challenges in today’s society, readers will find new opportunities and innovations in design capabilities in intelligent robotics and interdisciplinary biomedical products. This publication is a vital resource for senior and graduate students, researchers, and scientists in engineering seeking current research on best ways to globally expand online higher education.

Advanced Systems for Biomedical Applications

Author : Olfa Kanoun
Publisher : Springer
ISBN 13 : 9783030712235
Total Pages : 0 pages
Book Rating : 4.7/5 (122 download)

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Book Synopsis Advanced Systems for Biomedical Applications by : Olfa Kanoun

Download or read book Advanced Systems for Biomedical Applications written by Olfa Kanoun and published by Springer. This book was released on 2022-07-21 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book highlights recent developments in the field of biomedical systems covering a wide range of technological aspects, methods, systems and instrumentation techniques for diagnosis, monitoring, treatment, and assistance. Biomedical systems are becoming increasingly important in medicine and in special areas of application such as supporting people with disabilities and under pandemic conditions. They provide a solid basis for supporting people and improving their health care. As such, the book offers a key reference guide about novel medical systems for students, engineers, designers, and technicians.

Virtual Reality

Author : National Research Council
Publisher : National Academies Press
ISBN 13 : 0309051355
Total Pages : 557 pages
Book Rating : 4.3/5 (9 download)

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Book Synopsis Virtual Reality by : National Research Council

Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.

Bioinspired Legged Locomotion

Author : Maziar Ahmad Sharbafi
Publisher : Butterworth-Heinemann
ISBN 13 : 0128037741
Total Pages : 698 pages
Book Rating : 4.1/5 (28 download)

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Book Synopsis Bioinspired Legged Locomotion by : Maziar Ahmad Sharbafi

Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. - Presents state-of-the-art control approaches with biological relevance - Provides a thorough understanding of the principles of organization of biological locomotion - Teaches the organization of complex systems based on low-dimensional motion concepts/control - Acts as a guideline reference for future robots/assistive devices with legged architecture - Includes a selective bibliography on the most relevant published articles

The Robotics Primer

Author : Maja J. Mataric
Publisher : MIT Press
ISBN 13 : 026263354X
Total Pages : 325 pages
Book Rating : 4.2/5 (626 download)

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Book Synopsis The Robotics Primer by : Maja J. Mataric

Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.

Rehabilitation Robotics: Challenges in Design, Control, and Real Applications

Author : Francisco Romero Sánchez
Publisher : Frontiers Media SA
ISBN 13 : 2889768813
Total Pages : 229 pages
Book Rating : 4.8/5 (897 download)

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Book Synopsis Rehabilitation Robotics: Challenges in Design, Control, and Real Applications by : Francisco Romero Sánchez

Download or read book Rehabilitation Robotics: Challenges in Design, Control, and Real Applications written by Francisco Romero Sánchez and published by Frontiers Media SA. This book was released on 2022-08-31 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Exoskeletons in Rehabilitation Robotics

Author : Eduardo Rocon
Publisher : Springer Science & Business Media
ISBN 13 : 3642176585
Total Pages : 150 pages
Book Rating : 4.6/5 (421 download)

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Book Synopsis Exoskeletons in Rehabilitation Robotics by : Eduardo Rocon

Download or read book Exoskeletons in Rehabilitation Robotics written by Eduardo Rocon and published by Springer Science & Business Media. This book was released on 2011-01-19 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.

Adaptive Mobile Robotics

Author : Abul K. M. Azad
Publisher : World Scientific
ISBN 13 : 9814415944
Total Pages : 904 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Adaptive Mobile Robotics by : Abul K. M. Azad

Download or read book Adaptive Mobile Robotics written by Abul K. M. Azad and published by World Scientific. This book was released on 2012 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

New Trends in Robot Control

Author : Jawhar Ghommam
Publisher : Springer Nature
ISBN 13 : 981151819X
Total Pages : 382 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis New Trends in Robot Control by : Jawhar Ghommam

Download or read book New Trends in Robot Control written by Jawhar Ghommam and published by Springer Nature. This book was released on 2020-02-13 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

Optimal and Robust Control

Author : Luigi Fortuna
Publisher : CRC Press
ISBN 13 : 146650191X
Total Pages : 253 pages
Book Rating : 4.4/5 (665 download)

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Book Synopsis Optimal and Robust Control by : Luigi Fortuna

Download or read book Optimal and Robust Control written by Luigi Fortuna and published by CRC Press. This book was released on 2012-02-02 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: While there are many books on advanced control for specialists, there are few that present these topics for nonspecialists. Assuming only a basic knowledge of automatic control and signals and systems, Optimal and Robust Control: Advanced Topics with MATLAB® offers a straightforward, self-contained handbook of advanced topics and tools in automatic control. Techniques for Controlling System Performance in the Presence of Uncertainty The book deals with advanced automatic control techniques, paying particular attention to robustness—the ability to guarantee stability in the presence of uncertainty. It explains advanced techniques for handling uncertainty and optimizing the control loop. It also details analytical strategies for obtaining reduced order models. The authors then propose using the Linear Matrix Inequalities (LMI) technique as a unifying tool to solve many types of advanced control problems. Topics covered include: LQR and H-infinity approaches Kalman and singular value decomposition Open-loop balancing and reduced order models Closed-loop balancing Passive systems and bounded-real systems Criteria for stability control This easy-to-read text presents the essential theoretical background and provides numerous examples and MATLAB exercises to help the reader efficiently acquire new skills. Written for electrical, electronic, computer science, space, and automation engineers interested in automatic control, this book can also be used for self-study or for a one-semester course in robust control.