Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staf

Exploring haptic interfacing with a mobile robot without visual feedback

Search and rescue scenarios are often complicated by low or no visibility conditions. The lack of visual feedback hampers orientation and causes significant stress for human rescue workers. The Guardians project [1] pioneered a group of autonomous mobile robots assisting a human rescue worker operating within close range. Trials were held with fire fighters of South Yorkshire Fire and Rescue. It became clear that the subjects by no means were prepared to give up their procedural routine and the feel of security they provide: they simply ignored instructions that contradicted their routines

Control of free-flying space robot manipulator systems

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail

A simple 5-DOF walking robot for space station application

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams

Homeostasis in C. elegans sleep is characterized by two behaviorally and genetically distinct mechanisms

Biological homeostasis invokes modulatory responses aimed at stabilizing internal conditions. Using tunable photo- and mechano-stimulation, we identified two distinct categories of homeostatic responses during the sleep-like state of Caenorhabditis elegans (lethargus). In the presence of weak or no stimuli, extended motion caused a subsequent extension of quiescence. The neuropeptide Y receptor homolog, NPR-1, and an inhibitory neuropeptide known to activate it, FLP-18, were required for this process. In the presence of strong stimuli, the correlations between motion and quiescence were disrupted for several minutes but homeostasis manifested as an overall elevation of the time spent in quiescence. This response to strong stimuli required the function of the DAF-16/FOXO transcription factor in neurons, but not that of NPR-1. Conversely, response to weak stimuli did not require the function of DAF-16/FOXO. These findings suggest that routine homeostatic stabilization of sleep may be distinct from homeostatic compensation following a strong disturbance. DOI: http://dx.doi.org/10.7554/eLife.04380.00

Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Análisis por condición de servicio causado por vibración vertical inducida por peatones en estructuras

Civil engineering structures such as grandstands, slabs, footbridges and staircases have reported unacceptable vertical vibration when they are affected by human activities. Even when most of these structures are designed according to current guidelines and design codes, there are still misunderstandings in the human-structure interaction effects that, in some cases, may increase the vibration response compromising the structural serviceability performance. As a result, the serviceability load conditions due to pedestrian activities control, in most cases, the design for these structures. Therefore, a systematic overview regarding vertical pedestrian-structure interaction is carried out to demonstrate the need for a realistic analysis to properly incorporate these effects toward more rational structural designs. The discussion establishes a body of knowledge regarding pedestrian loads and structural responses, yielding the potential for more rational approaches to improving the analysis and design of pedestrian structures.Estructuras civiles tales como tribunas, losas, puentes peatonales y escaleras están presentando vibraciones verticales inaceptables cuando se ven afectadas por actividades humanas. Por lo tanto, todavía no se tiene claridad sobre los efectos producidos por la interacción entre el ser humano y la estructura que, en algunos casos, pueden llegar a aumentar la respuesta estructural comprometiendo el desempeño para condiciones de servicio. Un examen a las normas y códigos de diseño existentes, arroja una amplia gama de resultados, lo que demuestra que no son consistentes cuando las estructuras están expuestas a cargas inducidas por peatones. Este estudio tiene como objetivo identificar los mecanismos de vibración, los modelos matemáticos y los métodos para abordar la vibración vertical excesiva en las estructuras peatonales. Este análisis establece un conjunto de recomendaciones sobre las cargas que producen los peatones y las respuestas estructurales que pueden producir, lo que genera el potencial para futuros enfoques más racionales que mejoren el análisis y el diseño de estructuras peatonales