00856nam0 2200289 450 991100269510332120250519152152.0978111991270520250519d2025----km y0itay50 baengUSa c 001yyArchitectural detailingfunction, constructability, aestheticsPatrick Rand, Jason Miller, Edward Allen4nd ed.New JerseyWiley2025XIV, 367 p.ill.28 cmDettagli di architetturaRand,Patrick1819715Miller,Jason1422927Allen,Edward334517ITUNINAREICATUNIMARCBK9911002695103321ARCH B 4435313/2025FARBCFARBCArchitectural detailing4380197UNINA05219nam 2200685Ia 450 991101971640332120200520144314.09786611320065978128132006312813200649780470987667047098766997804709876500470987650(CKB)1000000000536070(EBL)351664(OCoLC)437218872(SSID)ssj0000269638(PQKBManifestationID)11213155(PQKBTitleCode)TC0000269638(PQKBWorkID)10247832(PQKB)10635859(MiAaPQ)EBC351664(Perlego)2788360(EXLCZ)99100000000053607020080221d2008 uy 0engur|n|---|||||txtccrWearable robots biomechatronic exoskeletons /edited by Jose L. PonsChichester, England ;Hoboken, NJ Wileyc20081 online resource (360 p.)Description based upon print version of record.9780470512944 0470512946 Includes bibliographical references and index.Wearable Robots; Contents; Foreword; Preface; List of Contributors; 1 Introduction to wearable robotics; 1.1 Wearable robots and exoskeletons; 1.1.1 Dual human-robot interaction in wearable robotics; 1.1.2 A historical note; 1.1.3 Exoskeletons: an instance of wearable robots; 1.2 The role of bioinspiration and biomechatronics in wearable robots; 1.2.1 Bioinspiration in the design of biomechatronic wearable robots; 1.2.2 Biomechatronic systems in close interaction with biological systems; 1.2.3 Biologically inspired design and optimization procedures1.3 Technologies involved in robotic exoskeletons1.4 A classification of wearable exoskeletons: application domains; 1.5 Scope of the book; References; 2 Basis for bioinspiration and biomimetism in wearable robots; 2.1 Introduction; 2.2 General principles in biological design; 2.2.1 Optimization of objective functions: energy consumption; 2.2.2 Multifunctionality and adaptability; 2.2.3 Evolution; 2.3 Development of biologically inspired designs; 2.3.1 Biological models; 2.3.2 Neuromotor control structures and mechanisms as models; 2.3.3 Muscular physiology as a model2.3.4 Sensorimotor mechanisms as a model2.3.5 Biomechanics of human limbs as a model; 2.3.6 Recursive interaction: engineering models explain biological systems; 2.4 Levels of biological inspiration in engineering design; 2.4.1 Biomimetism: replication of observable behaviour and structures; 2.4.2 Bioimitation: replication of dynamics and control structures; 2.5 Case Study: limit-cycle biped walking robots to imitate human gait and to inspire the design of wearable exoskeletons; 2.5.1 Introduction; 2.5.2 Why is human walking efficient and stable?2.5.3 Robot solutions for efficiency and stability2.5.4 Conclusion; Acknowledgements; 2.6 Case Study: MANUS-HAND, mimicking neuromotor control of grasping; 2.6.1 Introduction; 2.6.2 Design of the prosthesis; 2.6.3 MANUS-HAND control architecture; 2.7 Case Study: internal models, CPGs and reflexes to control bipedal walking robots and exoskeletons: the ESBiRRo project; 2.7.1 Introduction; 2.7.2 Motivation for the design of LC bipeds and current limitations; 2.7.3 Biomimetic control for an LC biped walking robot; 2.7.4 Conclusions and future developments; References3 Kinematics and dynamics of wearable robots3.1 Introduction; 3.2 Robot mechanics: motion equations; 3.2.1 Kinematic analysis; 3.2.2 Dynamic analysis; 3.3 Human biomechanics; 3.3.1 Medical description of human movements; 3.3.2 Arm kinematics; 3.3.3 Leg kinematics; 3.3.4 Kinematic models of the limbs; 3.3.5 Dynamic modelling of the human limbs; 3.4 Kinematic redundancy in exoskeleton systems; 3.4.1 Introduction to kinematic redundancies; 3.4.2 Redundancies in human-exoskeleton systems; 3.5 Case Study: a biomimetic, kinematically compliant knee joint modelled by a four-bar linkage3.5.1 IntroductionA wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in stRobotics in medicineProsthesisRobotics in medicine.Prosthesis.617.9617/.9629.892Pons Jose L858489MiAaPQMiAaPQMiAaPQBOOK9911019716403321Wearable robots4421952UNINA