wearable technology cyberdyne: hal - ocad...
TRANSCRIPT
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Wearable Technology
Cyberdyne: HAL
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SOURCE: medsoc.org.au
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CYBERNICSfusion of human, machineand information systems
HUMAN
MACHINE INFO
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Yoshiyuki Sankai
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HAL: Hybrid Assistive LimbEndoskeleton vs Exoskeleton- augment, expand, and support human capabilities- can hold and lift up to 70kg
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HAL: Hybrid Assistive LimbParts of the HAL Suit
SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor
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HAL: Hybrid Assistive LimbParts of the HAL Suit
SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor
BATTERY PACK: AC100V2 hours 40 minutes
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HAL: Hybrid Assistive LimbParts of the HAL Suit
SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor
BATTERY PACK: AC100V2 hours 40 minutes
MECHANICAL PARTS:Motors at joints
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HAL: Hybrid Assistive LimbParts of the HAL Suit
SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor
BATTERY PACK: AC100V2 hours 40 minutes
MECHANICAL PARTS:Motors at joints
CONTROL SYSTEM:Bio-cybernic Control processes bioelectrical signals to estimate the wearer’s intended motion
Cybernic Control processes info from environment and COG
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BRAIN sends myoelectrical signal to
MUSCLES
BIOELECTRICAL SENSOR
detects the signaland activates
BIOCYBERNIC CONTROL
BIOCYBERNIC CONTROL
reads the data and activates the suit’s
MOTORS
Bio-cybernic Control
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Cybernic Control System- used as alternate body functions for impaired motory/sensory function - FRFs, COG and joint angles used to detect wearer’s conditions
Wearer shifts COG to supporting leg(occurs as a preliminary motion to walking)
Floor Reaction Force sensors detect shift
Cybernic Control System predicts wearer is about to start walking
Cybernic Control System activates ‘intention-based walking support’
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Context: Healthcare & More
To handle radiactive material
^HAL supports 132lb tungsten vest without causing fatigue > new integrated design
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