Wearable Robots Biomechatronic Exoskeletons

by Pons, José; L.

• ISBN13: 9780470512944
• ISBN10: 0470512946
• Edition: 1st
• Format: Hardcover
• Copyright: 2008-03-17
• Publisher: Wiley

Summary

Wearable Robots is one of the first books to give an overview of biomechatronic exoskeletons including their applications and implications. Explaining the interaction between robot and human, implications for the rehabilitation of elderly and disabled patients and other technologies that maybe suitable for its development, Wearable Robots also provides detailed studies of the main topics including updates of recent research into the use of wearable robots in neuromotor control research. Relevant to mechanical and biomedical engineers as well as those working in prosthetics, rehabilitation, and defense. Contains detailed studies of the main areas covered including updated information on recent research into use of wearable robots in neuromotor control research and the related applications. Deals with the biological design, communication networks and control implications of the robot-human interaction needed including new wireless technology.

Author Biography

Jose L. Pons, is currently a Scientist for the Bioengineering Group of the Spanish Council for Scientific Research. He has previously written journal articles including for Humanoids and personal robots: Design and experiments, for the Journal of Robotic Systems, (Volume 18, Issue 12, Pages 673-690,4/12/2001). Pons has also written Emerging Actuator Technologies: A Micromechatronic Approach (0470091975) a book on the design and control of novel actuators for applications in micro nanosystems.

Table of Contents

Foreword

Preface

List of Contributors

Introduction to wearable robotics

Wearable robots and exoskeletons

The role of bioinspiration and biomechatronics in wearable robots

Technologies involved in robotic exoskeletons

A classification of wearable exoskeletons: application domains

Scope of the book

References

Basis for bioinspiration and biomimetism in wearable robots

Introduction

General principles in biological design

Development of biologically inspired designs

Levels of biological inspiration in engineering design

Case Study: limit-cycle biped walking robots to imitate human gait and to inspirethe design of wearable exoskeletons

Acknowledgements

Case Study: MANUS-HAND, mimicking neuromotor control of grasping

Case Study: internal models, CPGs and reflexes to control bipedal walking robots and exoskeletons: the ESBiRRo project

References

Kinematics and dynamics of wearable robots

Introduction

Robot mechanics: motion equations

Human biomechanics

Kinematic redundancy in exoskeleton systems

Case Study: a biomimetic, kinematically compliant knee joint modelled by a four-bar linkage

Case Study: design of a forearm pronation-supination joint in an upper limb exoskeleton

Case Study: study of tremor characteristics based on a biomechanical model ofthe upper limb

References

Human-robot cognitive interaction

Introduction to human-robot interaction

cHRI using bioelectrical monitoring of brain activity

Physiology of brain activity

Electroencephalography (EEG) models and parameters

Brain-controlled interfaces: approaches and algorithms

cHRI through bioelectrical monitoring of muscle activity (EMG)

Physiology of muscle activity

Electromyography models and parameters

Surface EMG signal feature extraction

Classification of EMG activity

Force and torque estimation

cHRI through biomechanical monitoring

Biomechanical models and parameters

Biomechanically controlled interfaces: approaches and algorithms

Case Study: lower limb exoskeleton control based on learned gait patterns

Gait patterns with knee joint impedance modulation

Architecture

Fuzzy inference system

Simulation

Case Study: identification and tracking of involuntary human motion based on biomechanical data

Case Study: cortical control of neuroprosthetic devices

Case Study: gesture and posture recognition using WSNs

Platform description

Implementation of concepts and algorithm

Posture detection results

Challenges: wireless sensor networks for motion tracking

Summary and outlook

References

Human-robot physical interaction

Introduction

Physiological factors

Aspects of wearable robot design

Kinematic compatibility between human limbs and wearable robots

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