LEADER 05142nam 2200637Ia 450 001 9910144139603321 005 20170815111836.0 010 $a1-281-32006-4 010 $a9786611320065 010 $a0-470-98766-9 010 $a0-470-98765-0 035 $a(CKB)1000000000536070 035 $a(EBL)351664 035 $a(OCoLC)437218872 035 $a(SSID)ssj0000269638 035 $a(PQKBManifestationID)11213155 035 $a(PQKBTitleCode)TC0000269638 035 $a(PQKBWorkID)10247832 035 $a(PQKB)10635859 035 $a(MiAaPQ)EBC351664 035 $a(EXLCZ)991000000000536070 100 $a20080221d2008 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aWearable robots$b[electronic resource] $ebiomechatronic exoskeletons /$fedited by Jose? L. Pons 210 $aChichester, England ;$aHoboken, NJ $cWiley$dc2008 215 $a1 online resource (360 p.) 300 $aDescription based upon print version of record. 311 $a0-470-51294-6 320 $aIncludes bibliographical references and index. 327 $aWearable 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 procedures 327 $a1.3 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 model 327 $a2.3.4 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? 327 $a2.5.3 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; References 327 $a3 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 linkage 327 $a3.5.1 Introduction 330 $aA 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 st 606 $aRobotics in medicine 606 $aProsthesis 608 $aElectronic books. 615 0$aRobotics in medicine. 615 0$aProsthesis. 676 $a617.9 676 $a617/.9 676 $a629.892 701 $aPons$b Jose? L$0858489 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910144139603321 996 $aWearable robots$92139730 997 $aUNINA