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Human–Robot Augmentation

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Springer Handbook of Robotics

Part of the book series: Springer Handbooks ((SHB))

Abstract

The development of robotic systems capable of sharing with humans the load of heavy tasks has been one of the primary objectives in robotics research. At present, in order to fulfil such an objective, a strong interest in the robotics community is collected by the so-called wearable robots, a class of robotics systems that are worn and directly controlled by the human operator. Wearable robots, together with powered orthoses that exploit robotic components and control strategies, can represent an immediate resource also for allowing humans to restore manipulation and/or walking functionalities.

The present chapter deals with wearable robotics systems capable of providing different levels of functional and/or operational augmentation to the human beings for specific functions or tasks. Prostheses, powered orthoses, and exoskeletons are described for upper limb, lower limb, and whole body structures. State-of-the-art devices together with their functionalities and main components are presented for each class of wearable system. Critical design issues and open research aspects are reported.

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Abbreviations

ADL:

activities for daily living

ARX:

auto regressive estimator

BE:

body extender

BLEEX:

Berkely exoskeleton

COT:

cost of transport

DARPA:

Defense Advanced Research Projects Agency

D:

distal

DOF:

degree of freedom

EHPA:

exoskeleton for human performance augmentation

EMG:

electromyography

EVA:

extravehicular activity

FB-EHPA:

full-body EHPA

HAL:

hybrid assistive limb

HE:

hand exoskeleton

IAD:

intelligent assisting device

IAS:

intelligent autonomous system

IP:

interphalangeal

JPL:

Jet Propulsion Laboratory

MCP:

metacarpophalangeal

MIT:

Massachusetts Institute of Technology

MPHE:

multiphalanx hand exoskeleton

SEA:

series elastic actuator

SPHE:

single-phalanx hand exoskeleton

TBG:

time-base generator

ULE:

upper limb exoskeleton

VE:

virtual environment

ZMP:

zero moment point

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Author information

Authors and Affiliations

  1. Perceptual Robotics Laboratory, Sant’Anna School of Advanced Studies, Via Alamanni 13, 56010, Pisa, Italy

    Massimo Bergamasco

  2. MIT Media Lab, 77 Massachusetts Avenue, MA 02139-4307, Cambridge, USA

    Hugh Herr

Authors
  1. Massimo Bergamasco
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  2. Hugh Herr
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Corresponding author

Correspondence to Massimo Bergamasco .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Arm light exoskeleton (ALEx) available from http://handbookofrobotics.org/view-chapter/70/videodetails/146

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Arm-Exos available from http://handbookofrobotics.org/view-chapter/70/videodetails/148

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Body extender transversal joint available from http://handbookofrobotics.org/view-chapter/70/videodetails/149

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Hand-exoskeletons available from http://handbookofrobotics.org/view-chapter/70/videodetails/150

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Collaborative control of the Body Extender available from http://handbookofrobotics.org/view-chapter/70/videodetails/151

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Body Extender – A fully powered whole-body exoskeleton available from http://handbookofrobotics.org/view-chapter/70/videodetails/152

:

L-Exos for upper-limb motor rehabilitation available from http://handbookofrobotics.org/view-chapter/70/videodetails/180

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Bergamasco, M., Herr, H. (2016). Human–Robot Augmentation. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_70

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_70

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