A humanoid robot is a robot with its body shape built to resemble thatof the human body. In general, humanoid robots have a torso, a head, two arms, and two legs. A humanoid design might be for interacting with human tools and environments or for the study of bipedal locomotion or what else. Honda began developing humanoid robots in the 1980s. E6, developed in 1993, was able to autonomously balance, walk over obstacles, and even climb stair s. The P series of robots produced from 1993 through 1997, which included the first self-regulating, humanoid walking robot with wireless movements. ASIMO was introduced in 2000, ASIMO, which is an acronym for Advanced Step in Innovative Mobility was created to be a helper to people. E0 E1 E2 E3 E4 E5 E6 P1-P3 Model (1986) (1987) (1989) (1991) (1991) (1992) (1993) (1993-1997) Weight 16.5 kg 72 kg 67.7 kg 86 kg 150 kg 150 kg 150 kg 175 kg Height 101.3 cm 128.8 cm 132 cm 136.3 cm 159.5 cm 170 cm 174.3 cm 191.5 cm DOF 6 12 12 12 12 12 12 30(12 in legs) Image ASIMO 2000 predicted movement control more human-like walking motion 2005 running speed to 3.7 mph twice as fast as the original robot 2007 kicking a football, running and walking up and down stairs. multiple ASIMO robots to work together in coordination step aside when humans approach the robot return to its charging unit upon sensing low battery levels Wireless Transmission Unit SENSORS: FOOT 6-axis Foot Area Sensor SENSORS: TORSO Gyroscope & Acceleration Sensor POWER Rechargeable 51.7 mph (2.8V Lithium Ion Battery OPERATING TIME: 1 hour OPERATION Workstation and Portable Controller .3 mph (7 kph) GRASPING FORCE 0.5 kg/hand (5 finger hand) ACTUATOR Servomotor+Harmonic Speed Reducer+Drive Unit CONTROL UNIT Walk/Operating Control Unit.7 km/hour) RUNNING SPEED 4.Specifications HEIGHT 4 ft 3in (130 cm) WEIGHT 110 pounds (50 kg) WALKING SPEED 1. Left/Right LEGS 3 DOF Rotation) Knee joints (Forward/Backward) 1 DOF Ankle joints (Forward/Backward. Left/Right. ASIMO's ability to distinguish between voices and other sounds allows it to identify its companions. which enables it to interact with humans. sounds and faces. Left/Right Rotation) 3 DOF Shoulder joints (Forward/Backward. enabling it to recognize when a handshake is offered or when a person waves or points. Left/Right 12 DOF = 6 x 2 legs Rotation) TOTAL 57 DOF Abilities ASIMO has the ability to recognize moving objects. This allows the robot to face a person when spoken to or look towards a sound. DEGREES OF FREEDOM (for human joints) HEAD Neck joint (Up/Down. ASIMO interprets voice commands and human hand movements. This feature allows ASIMO to follow a person. ASIMO is able to respond to its name and recognizes sounds associated with a falling object or collision. or face him or her when approached. its surrounding environment. ASIMO can detect the movements of multiple objects by using visual information captured by two camera "eyes" in its head and also determine distance and direction. and then respond accordingly. Up/Down ARMS 3 DOF Rotation) Elbow joints (Forward/Backward) 1 DOF Wrist joints (Up/Down. gestures. Rotation) 14 DOF = 7 x 2 arms HANDS 4 fingers (to grasp objects) / Thumb 26 DOF = 13 x 2 hands HIP Rotation 2 DOF Crotch joint (Forward/Backward. postures. . ASIMO responds to questions by nodding or providing a verbal answer and can recognize 10 different faces and address them by name. ▲ Pepper BRIEF HISTORY OF EXOSKELETONS(外骨骼/J 外甲) . . is a powered mobile machine consisting primarily of an exoskeleton-like framework worn by a person and a power supply that supplies at least part of the activation-energy for limb movement. also known as powered armor. is worn by the human (orthotic) and functions as a human-amplifier. It is to set the Human Machine Interface (HMI) at the neuromuscular level of the human physiological hierarchy using the body's own neural command signals as one of the primary command signals of the exoskeleton. serving as an assistive device. Examples include exoskeletons that help people to walk or lift. and its actuators share a portion of the external load with the operator. The exoskeleton robot.A wearable robot is a person-oriented robot that is designed to be worn. or exoframe. A powered exoskeleton. Its joints and links correspond to those of the human body. Reed wears a version in a 5k foot race. starts work on Lifesuit as a tool for physical therapy. 2002: HAL-3 2004: BLEEX Keijiro Yamamoto/Kanagawa Institute of Technology: Japanese company Cyberdyne releases HAL-3 is on sale to help nurses lift patients. a retired Army Ranger who broke his back. In 2003. . 1987: Lifesuit Monty Reed 1990: Power Assist Suit Yuriko Nakao Monty Reed. Yuriko Nakao: Japan's Kanagawa Institute of Technology starts on a "Power Assist Suit" to help nurses carry patients. and heavy labour support at factories. "HAL" also has a 'robotic autonomous control system' that provides human- like movement generated according to wearer's body constitutions 體質. This is what we call a 'voluntary control system' that provides movement interpreting the wearer's intention from the biosignals in advance of the actual movement.Other applications are rehabilitation and physical training support. very weak biosignals can be detected on the surface of the skin. At this moment. Activities of Daily Living support for disabled people. Based on the signals obtained. the power unit is controlled to move the joint unitedly with the wearer's muscle movement to provide physical support according to voluntary muscle 隨意肌 activity. "HAL" catches these signals through a sensor attached on the skin of the wearer. What's "HAL" (Hybrid Assistive Limb®)? FRF= Frequency Response Function(?) CoP(Center of Point) When a person attempts to move. condition . nerve signals are sent from the brain to the muscles via motoneuron. University of Tsukuba Cybernics: Fusion of human. The FRF sensors are embeded into shoes to detect the CoP(Center of . 23kg (Lower body approx. machine and information systems The torque of power units attached on the joints are converted from HAL to wearer's limb through the mold fastening equipments. "HAL" is the world's first cyborg-type robot controlled by this unique Hybrid System.600mm Weight Full Body approx. walking.and purposes of motion support which integrally work together with the 'autonomous control system'. lift and carry heavy objects). 15kg) Power Battery Drive Charged battery (AC100V) Operating time Approximately 2 hours 40 minutes continuous operation Motions Daily Activities (standing up from a chair. climbing up and down stairs. Potentiometers at each joint measure the joint angles. Operation Hybrid Control System 『 HAL』の動作原理 ご利用条件 Robot suit HAL（ Hybrid Assistive Limb） Cybernics Laboratory. (Cyborg: cybernetic organism 半機器人) Specifications Size: Height 1. HAL-5 can amplify human strength from a factor of 2 to 10 times the original strength. Point). has legs. more complete. The bioelectrical signal sensors are detected to the signals such as myoelectricity (肌電).000-$59. arms and torso. Yoshiyuki Sankai’s 山海嘉 long journey of perfecting the exoskeleton technology. A computer and batteries are attached on a wearer's waist. HAL-5 is the product of Dr. . Currently.000 dollars. HAL 5. Developments Two prototypes have been built by Cyberdyne: HAL 3 has only legs and servo-motors are relatively bulky. the suit is only available to Japanese residents and the cost to purchase the suit is from $42. 6 kg (including battery) Operating time per charge More than 60 minutes Drive method Brushless DC motor Battery Lithium-ion battery.. and to promote a longer stride for an easier walk. The control computer activates motors based on information obtained from hip angle sensors while walking to improve the symmetry of the timing of each leg lifting from the ground and extending forward. Walking Assist Device with stride management system Bodyweight Support Assist Device Honda Begins Monitor Leasing of Walking Assist Device in Japan TOKYO. Key specifications of the Walking Assist Device M-size (hip width: 340 mm) Size of hip frame L-size (hip width: 380 mm) Weight Less than 2. Honda began research and development of the Walking Assist Device in 1999. The spirit upon which Honda was founded . Japan. has begun leasing up to a total of 100 units* of the Walking Assist Device to hospitals in Japan that provide rehabilitation training / physical therapy in the area of walking. 2013 .. Ltd."utilizing technology to help people". 22. May 28. to monitor its use and verify the practicality of the device.5 km/h pace) .2V-1Ah Operation time on full charge Over 1 hour (at 4.Honda Motor Co. designed to allow rapid ascent of stairs and steep slopes while providing the same long term load carrying capability of ExoHiker. communications gear and weaponry with minimal effort over any type of terrain for extended periods of time.Payload: the wearer feels no vertical load with weight up to 150 lbf. It incorporates the features of ExoHiker™ and ExoClimber™ exhibiting two independent characteristics: .http://bleex. and other emergency personnel the ability to carry major loads such as food. first-aid supplies. wildfire fighters. . 2010.It takes up to 200 pounds without impeding the wearer (Strength Augmentation) eLEGS™ In October 7.edu/research/exoskeleton/bleex/ ExoLight™ is an accessible exoskeleton for people with mobility disorder.me. . It weighs 22 pounds including 4 pounds of batteries and on- board computer. HULC™ The Human Universal Load Carrier (HULC™) is the third generation exoskeleton system. Berkeley Lower Extremity Exoskeleton (BLEEX) The Berkeley exoskeleton system provides soldiers.berkeley. ExoClimber™ completed in October 2005. rescue equipment. .Mission Range : At least 600 foot ascent per pound of battery while carrying 150 pound payload. an exoskeleton system that allows paraplegics and those with mobility disorders to stand and walk. disaster relief workers. .Weight: 50 lbf including power unit and on-board computer. These powered exoskeletons allow wearers to walk upright with little physical exertion. Berkeley Bionics unveiled eLEGS. ExoHiker™ for carrying heavy loads during long missions. batteries and on- board computer Payload: 150 lbf while the wearer feels no load Mission Duration: without small pack-mounted solar panel: 42 miles for a pound of battery (Lithium Polymer) at the average speed 2.5 mph. . Weight: 31 lbf including power unit. Click Here for an InMotion ARM™ DEMONSTRATION Elbow flexion/extension Shoulder protraction/retraction Shoulder internal/external rotation Shoulder flexion/extension Shoulder abduction/adduction The most thoroughly researched device for upper extremity neurorehabilitation 800+ patients . Clinically proven to improve FIM scores Robotic arm with two active degrees of freedom - Clinicians.Evidence-Based Neurorehabilitation Technology InMotion ARM™ : clinical version of the MIT-Manus The InMotion ARM™ Robot is evidence based. This allows the clinician to efficiently deliver personalized intensive sensorimotor therapy to neurologic patients. interactive technology that is capable of continuously adapting to and challenging each patient’s ability. intelligent. The InMotion HAND™ is an “add-on” optional module that attaches to the InMotion ARM™ Robot.1 InMotion HAND™ The InMotion HAND™ Robot senses patient forces and assists the patient as needed. . Therapy protocols allowing clinicians to customize treatment. InMotion ARM™ software Intensive — 1024 movements per therapy session Evidence-based treatment protocols. grab and go set up Direct wheel chair access Print patient progress reports directly from the robot Broad clinical application shown to improve functional outcomes across the continuum of care. continuously adapting to each patients abilities allowing the clinician to deliver optimum intensive sensorimotor grasp and release hand therapy. Large multi-site randomized controlled clinical trials Easy to use technology allows for high repetition 400-1000 reps/session Task specific to reduce impairments in the affected limb(s) focusing on improving patient’s: o Range of Motion o Coordination o Strength o Movement Speed o Movement Smoothness Easy-to-use. visual field deficits/neglect Massed practice 2D Gravity compensated therapy is more effective than 3D Spatial therapy .Therapeutic exercise games for: Motor planning Eye-hand coordination Attention. InMotion EVAL™ Quantifies upper extremity motor control and movement recovery allowing clinicians to distinguish true recovery from compensation Establishes a baseline and measures progress to: Determine medical necessity Justify continuation of treatment based upon measurable gains . For instance.IMT’s modular. “gym-of-robots” systems approach to neurorehabilitation is the only system designed to optimize the use of robotics for neurorehabilitation in a manner that is consistent with the latest clinical research and neuroscience. By measuring patient kinematic and kinetic data objectively. IMT’s robots have shown that for severe to moderate brain injury the effectiveness of therapy is optimized by allowing the robots to focus on reducing impairment and allowing the therapist to assist on translating the gains in impairment into function. taking into account the latest understandings on motor learning interference and motor memory consolidation. training planar and vertical (anti-gravity) movements in alternate days leads to significant functional improvements2. Performance feedback metrics . Motor-Power and NIH stroke scale performance* Maximum Shoulder Force Optional InMotion Eval module.Quantifiable measures for: Shoulder stabilization Smoothness of Arm movement Arms ability to move against resistance Mean and Maximum arm speed Arm Reaching error Joint independence Correlated with traditional assessment scales: Fugl-meyer. Allows clinicians to measure a patient’s ability to generate maximum shoulder flexion/extension. adduction/abduction force. Custom Designed Technology 6 degree-of-freedom force-torque sensor monolithic aluminum device containing analog and digital electronics systems. Module attaches to the InMotion ARM™ Robot. 0m)(D) x 45” (1. (271kg) Electrical Requirements 100 – 240VAC.5”(. 50/60Hz. . Clinical Studies performed with the InMotion ARM™ Stroke Cerebral Palsy Traumatic Brain Injury Today the American Heart Association.4m)(W) x 76” (2.2m)(H) at lowest positionChair: 27.61m)(D) Weight 598 lbs.InMotion ARM™ Dimensions Workstation: 51”(1. American Stroke Association and the Department of Veterans Affairs include robot-assisted therapy in their stroke rehabilitation guidelines for moderate to severe patients with upper extremity disability.7m)(W) x 24” (. automatic <1250VA. Sample Circle Plots for a stroke patient at admission and discharge following six weeks of InMotion robotic therapy Admission Plot . Discharge Plot . Overview of a typical InMotion WRIST™ robotic therapy session: 1. or it may be used in addition to the InMotion ARM™ to offer progressive modular robotic neurorehabilitation. Patient initiates or attempts movement 4. Therapist selects appropriate treatment protocol 2. Robot prompts patient to initiate movement 3. Robot senses patient movement and provides continuous adaptive real- time assist-as-needed™ support ensuring movement is completed successfully 5.Evidence-Based Neurorehabilitation Technology Enhancing Neurorecovery The InMotion WRIST™ is capable of lifting even a severely impaired neurologic patient’s hand against gravity. overcoming most forms of hypertonicity. It may also be used to carry patients to qualify for CIMT. Independent clinical trials have shown progressive. The InMotion WRIST™ accommodates the range of motion of a normal wrist in everyday tasks. Flexion/Extension 60º/60º Abduction/Adduction 30º/45º Pronation/Supination 70º/70º Clinicians may use the InMotion WRIST™ as a stand-alone treatment option. modular robotic neurorehabilitation to be more effective at reducing impairment and improving function1 even in severely impaired chronic patients. Therapist continues to engage patient and objectively plans next steps . Robot provides performance feedback to both patient and therapist 6. visual field deficits/neglect Massed practice . SYSTEM COMPONENTS InMotion WRIST™ hardware Robotic arm with 3 active degrees-of-freedom Universal design for fast and easy patient setup Adjustable-height robot and workstation Adults and small-body people may use the same device InMotion WRIST™ software Intensive — 1024 movements per therapy session Evidence-based treatment protocols. 25 different therapy protocols allowing clinicians to customize treatment for adults and children Therapeutic exercise games for: Motor planning Eye-hand coordination Attention. Performance feedback metrics . sensory and continuos passive motion training for grasp and release. The hand robot is also capable of providing strength. Like our other robots. sensorimotor. capable of continuously adapting to the needs of each patient — delivering customizable therapy. . * Evidence-Based Neurorehabilitation Technology Enhancing Neurorecovery The InMotion HAND™ robot is an add on module to be used with the InMotion ARM™ Robot. the InMotion HAND™ is smart.