wearable technology cyberdyne: hal - ocad...
TRANSCRIPT
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
