wearable technology cyberdyne: hal - ocad...

Wearable Technology

Cyberdyne: HAL

SOURCE: medsoc.org.au

CYBERNICSfusion of human, machineand information systems

HUMAN

MACHINE INFO

Yoshiyuki Sankai

HAL: Hybrid Assistive LimbEndoskeleton vs Exoskeleton- augment, expand, and support human capabilities- can hold and lift up to 70kg

HAL: Hybrid Assistive LimbParts of the HAL Suit

SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor

HAL: Hybrid Assistive LimbParts of the HAL Suit

SENSORS:AccelerometerFloor Reaction Force SensorAngular SensorBioelectrical Sensor

BATTERY PACK: AC100V2 hours 40 minutes

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

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

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

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’

Context: Healthcare & More

To handle radiactive material

^HAL supports 132lb tungsten vest without causing fatigue > new integrated design