Fig. 15.1 The upper limb exoskeleton EXO-UL7 with seven DOFs, supporting 99 % of the range of motion required to preform daily activities 15.2 An Upper Limb Exoskeleton: EXO-UL7 15.2.1 System…
Fig. 9.1 The planar pantograph haptic system integrated with a mouse The device is powered by two precious metal brushed 40 W DC-motors from Portescap (Model 25GT2R82-222E) through capstan cable transmissions which…
Fig. 12.1 The KINARM robot (a) used in this study has a two-degree-of-freedom planar exoskeleton for each arm (only right arm shown for clarity). The user sits in a chair…
Fig. 13.1 Emerging behaviors, arising from the coupled dynamics of human body and robotic structure interacting with the environment, help the execution of a complex task with low computational efforts….
Fig. 2.1 Karl Dussik’s apparatus to generate ultrasonic waves, built in 1942 (Reproduced from [17]) In 1948, the first Congress of Ultrasound in Medicine was held in Erlangen, Germany; in…
Fig. 11.1 Examples of different manipulator architecture for upper limb rehabilitation. For the serial mirrored manipulator. (a) MIT Manus [1]; (b) MIME [2]; (c) ARM Guide [3]; (d) ACT 3D…
Fig. 1.1 A bookcase containing three different objects (a marker, a rectangular-shaped object and a mug), placed at five different positions, at three different shelves, is depicted. A superimposed diagram…
Fig. 6.1 Test setup. (a) Anklebot fully attached to a human subject while suspended using a compliant strap. (b) Anklebot partially attached to a human subject while suspended using a…
Fig. 5.1 Angle and angle velocity of human hip, knee and ankle in treadmill walking. Hip ankle is calculated between the seventh spine bone, trochanter major and a assumed rotational…
Fig. 14.1 MIT Manus, one of the earliest robotic upper limb rehabilitation systems (Figure reproduced from [35] under the Creative Commons Attribution License) One of the earliest robotic upper limb…
