Abstract: According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

Abstract: In some embodiments, a body anchor for supporting an assistive device can include: a cuff to exert a compression force on a body part of a user; and one or more tensile elements having first ends and second ends. The first ends of the tensile elements can be configured to be attached to the assistive device. The second ends of the tensile elements can be arranged about the cuff to cause the compression force to vary in proportion to a load exerted by the assistive device.

Abstract: In some embodiments, a body anchor for supporting an assistive device can include: a cuff to exert a compression force on a body part of a user; and one or more tensile elements having first ends and second ends. The first ends of the tensile elements can be configured to be attached to the assistive device. The second ends of the tensile elements can be arranged about the cuff to cause the compression force to vary in proportion to a load exerted by the assistive device.

Abstract: According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

Abstract: Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.

Abstract: Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.

Abstract: A pelvis interface may include a subject attachment module including a waist attachment and a back attachment. The interface may further include an arm assembly coupled to the subject attachment module, the arm assembly including a plurality of arms so coupled to one another and/or to the subject attachment module as to permit the subject attachment module at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom. The interface may further include motors so coupled to the arm assembly as to actuate at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom.

Abstract: A method for providing a controlled force to a dynamic system includes applying a force to a first actuator, transmitting the force from the first actuator to a second actuator through a closed fluid path containing a captured volume of fluid, and providing, via the second actuator, a controlled force to the dynamic system.

Abstract: A pelvis interface may include a subject attachment module including a waist attachment and a back attachment. The interface may further include an arm assembly coupled to the subject attachment module, the arm assembly including a plurality of arms so coupled to one another and/or to the subject attachment module as to permit the subject attachment module at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom. The interface may further include motors so coupled to the arm assembly as to actuate at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom.

Abstract: Wrist and upper extremity motion systems and method may include positioning a subject's wrist or upper extremity in a motion device, and actuating one or more motors associated with the device to provide at least one of assistance, perturbation, and resistance to a wrist or upper extremity motion.

Abstract: A pelvis interface may include a subject attachment module including a waist attachment and a back attachment. The interface may further include an arm assembly coupled to the subject attachment module, the arm assembly including a plurality of arms so coupled to one another and/or to the subject attachment module as to permit the subject attachment module at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom. The interface may further include motors so coupled to the arm assembly as to actuate at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom.

Abstract: An impedance shaping element (or more simply, an impedance shaper) physically alters or shapes the mechanical impedance of a drive system as it appears from an interface and facilitates use of feedback control to improve performance by altering or shaping a dynamic coupling between an interface and a control system. For example, the impedance shaper can be used to adjust a coupling value from a first value to a second different value. In one embodiment, an impedance shaper controls the compliance, damping and inertia characteristics of fluid within a fluid path.

Abstract: A pelvis interface may include a subject attachment module including a waist attachment and a back attachment. The interface may further include an arm assembly coupled to the subject attachment module, the arm assembly including a plurality of arms so coupled to one another and/or to the subject attachment module as to permit the subject attachment module at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom. The interface may further include motors so coupled to the arm assembly as to actuate at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom.

Abstract: A fluid transmission system adapted to provide a controlled force to a dynamic system includes a controller, a drive system coupled to the controller and to a path having a captured amount (mass) of fluid contained therein and an interface coupled to the captured fluid path.

Abstract: A method of measuring a change in neurological and/or muscular performance of a subject may include attaching an attachment to a subject. The subject may then be directed to perform a motion. A first force imposed by the subject on the attachment and/or a first motion of the attachment is sensed. The subject's first response may then be compared to a second response to determine a change in the subject's neurological and/or muscular performance.

Abstract: A method for providing a controlled force to a dynamic system includes applying a force to a first actuator, transmitting the force from the first actuator to a second actuator through a closed fluid path containing a captured volume of fluid, and providing, via the second actuator, a controlled force to the dynamic system.

Abstract: A fluid transmission system adapted to provide a controlled force to a dynamic system includes a controller, a drive system coupled to the controller and to a path having a captured amount (mass) of fluid contained therein and an interface coupled to the captured fluid path.

Abstract: An impedance shaping element (or more simply, an impedance shaper) physically alters or shapes the mechanical impedance of a drive system as it appears from an interface and facilitates use of feedback control to improve performance by altering or shaping a dynamic coupling between an interface and a control system. For example, the impedance shaper can be used to adjust a coupling value from a first value to a second different value. In one embodiment, an impedance shaper controls the compliance, damping and inertia characteristics of fluid within a fluid path.

Abstract: Wrist and upper extremity motion systems and method may include positioning a subject's wrist or upper extremity in a motion device, and actuating one or more motors associated with the device to provide at least one of assistance, perturbation, and resistance to a wrist or upper extremity motion.

Abstract: An ankle interface may include a leg connection attachable to a user's leg, a foot connection attached to the user's corresponding foot, and a transmission system coupling the leg connection and the foot connection with at least two degrees of freedom and actuating at least two degrees of freedom.