Hybrid Assistive Limb

Last updated

Hybrid Assistive Limb (HAL)
Hybrid Assistive Limb.jpg
A man wearing a 2005 prototype version of the HAL suit (left)
Manufacturer Cyberdyne
CountryJapan
Year of creation1997 (earliest prototype)
2012 (full HAL-5 suit)
Type Powered exoskeleton
Soft exoskeleton
PurposeMedical
Search and rescue
Website cyberdyne.jp

The Hybrid Assistive Limb (also known as HAL) is a powered, soft-bodied exoskeleton suit developed by Japan's Tsukuba University and the robotics company Cyberdyne. It is designed to support and expand the physical capabilities of its users, particularly people with physical disabilities. There are two primary versions of the system: HAL 3, which only provides leg function, and HAL 5, which is a full-body exoskeleton for the arms, legs, and torso.

Contents

In 2011, Cyberdyne and Tsukuba University jointly announced that hospital trials of the full HAL suit would begin in 2012, with tests to continue until 2014 or 2015. [1] By October 2012, HAL suits were in use by 130 different medical institutions across Japan. [2] In February 2013, the HAL system became the first powered exoskeleton to receive global safety certification. [3] In August 2013, HAL received EC certification for clinical use in Europe as the world's first non-surgical medical treatment robot. [4] [5] In addition to its medical applications, the HAL exoskeleton has been used in construction and disaster response work. [6] [7]

History

The first HAL prototype was proposed by Yoshiyuki Sankai, a professor at Tsukuba University. Fascinated with robots since he was in the third grade, Sankai had striven to make a robotic suit in order "to support humans". [8] In 1989, after receiving his PhD in robotics, he began the development of HAL. Sankai spent three years, from 1990 to 1993, mapping out the neurons that govern leg movement. It took him and his team an additional four years to make a prototype of the hardware. [9]

The third HAL prototype, developed in the early 2000s, was attached to a computer. Its battery alone weighed nearly 22 kilograms (49 lb) and required two helpers to put on, making it very impractical. By contrast, later HAL-5 model weighs only 10 kilograms (22 lb) and has its battery and control computer strapped around the waist of the wearer.

Cyberdyne began renting the HAL suit out for medical purposes in 2008. By October 2012, over 300 HAL suits were in use by 130 medical facilities and nursing homes across Japan. The suit is available for institutional rental, in Japan only, for a monthly fee of US$2,000. [2] In December 2012, Cyberdyne was certified ISO 13485 – an international quality standard for design and manufacture of medical devices – by Underwriters Laboratories. [10] In late February 2013, the HAL suit received a global safety certificate, becoming the first powered exoskeleton to do so. [3] In August 2013, the suit received an EC certificate, permitting its use for medical purposes in Europe as the first medical treatment robot of its kind. [4] [5]

Design and mechanics

When a person attempts to move their body, nerve signals are sent from the brain to the muscles through the motor neurons, moving the musculoskeletal system. When this happens, small biosignals can be detected on the surface of the skin. The HAL suit registers these signals through a sensor attached to the skin of the wearer. Based on the signals obtained, the power unit moves the joint to support and amplify the wearer's motion. The HAL suit possesses a cybernic control system consisting of both a user-activated "voluntary control system" known as Cybernic Voluntary Control (CVC) and a "robotic autonomous control system" known as Cybernic Autonomous Control (CAC) for automatic motion support. [11] [12] [13]

The HAL design is notable for its soft body and frame, with comfort and ease of use cited as potential benefits of this lack of a rigid body. [14]

Users

HAL is designed to assist people who are disabled or elderly in their daily tasks, but can also be used to support workers with physically demanding jobs such as disaster rescue or construction. HAL is mainly used by disabled patients in hospitals, and can be modified so that patients can use it for longer-term rehabilitation. In addition, scientific studies have shown that, in combination with specially-created therapeutic games, powered exoskeletons like the HAL-5 can stimulate cognitive activities and help disabled children walk while playing. [15] [16] Further scientific studies have shown that HAL Therapy can be effectively used for rehabilitation after spinal cord injury or stroke. [17]

During the 2011 Consumer Electronics Show, it was announced that the United States government had expressed interest in purchasing HAL suits. [18] In March 2011, Cyberdyne presented a legs-only HAL version for those with disabilities, health care professionals and factory workers. [19] In November 2011, HAL was selected to be used for cleanup work at the site of the Fukushima nuclear accident. [20] During the Japan Robot Week exhibition in Tokyo in October 2012, a redesigned version of HAL was presented, designed specifically for the Fukushima cleanup. [7] In March 2013, ten Japanese hospitals conducted clinical tests of the newer legs-only HAL system. [21] In late 2014, HAL exoskeletons modified for construction use entered service with the Japanese construction contractor Obayashi Corporation. [6]

See also

Related Research Articles

<span class="mw-page-title-main">Assistive technology</span> Assistive devices for people with disabilities

Assistive technology (AT) is a term for assistive, adaptive, and rehabilitative devices for people with disabilities and the elderly. Disabled people often have difficulty performing activities of daily living (ADLs) independently, or even with assistance. ADLs are self-care activities that include toileting, mobility (ambulation), eating, bathing, dressing, grooming, and personal device care. Assistive technology can ameliorate the effects of disabilities that limit the ability to perform ADLs. Assistive technology promotes greater independence by enabling people to perform tasks they were formerly unable to accomplish, or had great difficulty accomplishing, by providing enhancements to, or changing methods of interacting with, the technology needed to accomplish such tasks. For example, wheelchairs provide independent mobility for those who cannot walk, while assistive eating devices can enable people who cannot feed themselves to do so. Due to assistive technology, disabled people have an opportunity of a more positive and easygoing lifestyle, with an increase in "social participation", "security and control", and a greater chance to "reduce institutional costs without significantly increasing household expenses." In schools, assistive technology can be critical in allowing students with disabilities to access the general education curriculum. Students who experience challenges writing or keyboarding, for example, can use voice recognition software instead. Assistive technologies assist people who are recovering from strokes and people who have sustained injuries that affect their daily tasks.

<span class="mw-page-title-main">Mecha</span> Humanoid walking vehicles in science fiction

In science fiction, mecha or mechs are giant robots or machines typically depicted as piloted and as humanoid walking vehicles. The term was first used in Japanese after shortening the English loanword 'mechanism' or 'mechanical', but the meaning in Japanese is more inclusive, and 'robot' or 'giant robot' is the narrower term.

<span class="mw-page-title-main">Tremor</span> Involuntary muscle contraction

A tremor is an involuntary, somewhat rhythmic, muscle contraction and relaxation involving oscillations or twitching movements of one or more body parts. It is the most common of all involuntary movements and can affect the hands, arms, eyes, face, head, vocal folds, trunk, and legs. Most tremors occur in the hands. In some people, a tremor is a symptom of another neurological disorder.

<span class="mw-page-title-main">Prosthesis</span> Artificial device that replaces a missing body part

In medicine, a prosthesis, or a prosthetic implant, is an artificial device that replaces a missing body part, which may be lost through physical trauma, disease, or a condition present at birth. Prostheses are intended to restore the normal functions of the missing body part. Amputee rehabilitation is primarily coordinated by a physiatrist as part of an inter-disciplinary team consisting of physiatrists, prosthetists, nurses, physical therapists, and occupational therapists. Prostheses can be created by hand or with computer-aided design (CAD), a software interface that helps creators design and analyze the creation with computer-generated 2-D and 3-D graphics as well as analysis and optimization tools.

Cyberdyne may refer to:

<span class="mw-page-title-main">Human Universal Load Carrier</span>

Human Universal Load Carrier, or HULC, is an un-tethered, hydraulic-powered anthropomorphic exoskeleton developed by Professor H. Kazerooni and his team at Ekso Bionics. It is intended to help soldiers in combat carry a load of up to 200 pounds at a top speed of 10 miles per hour for extended periods of time. After being under development at Berkeley Robotics and Human Engineering Laboratory since 2000, the system was announced publicly at the AUSA Winter Symposium on February 26, 2009, when an exclusive licensing agreement was reached with Lockheed Martin. Although the exoskeleton is powered and can be used, the project was a failure as it hindered certain movements and actually increased strain on muscles, going directly against what a powered exoskeleton is supposed to do.

ReWalk is a commercial bionic walking assistance system that uses powered leg attachments to enable paraplegics to stand upright, walk and climb stairs. The system is powered by a backpack battery, and is controlled by a simple wrist-mounted remote which detects and enhances the user's movements. Designed in Yokneam, Israel, by Amit Goffer, the ReWalk is marketed by ReWalk Robotics Ltd., and is priced at approximately US$85,000 per unit.

<span class="mw-page-title-main">Cyberdyne Inc.</span> Japanese robotics and technology company

Cyberdyne is a Japanese robotics and technology company most noted for the marketing and distribution of the HAL robotic exoskeleton suit.

Rehabilitation robotics is a field of research dedicated to understanding and augmenting rehabilitation through the application of robotic devices. Rehabilitation robotics includes development of robotic devices tailored for assisting different sensorimotor functions(e.g. arm, hand, leg, ankle), development of different schemes of assisting therapeutic training, and assessment of sensorimotor performance of patient; here, robots are used mainly as therapy aids instead of assistive devices. Rehabilitation using robotics is generally well tolerated by patients, and has been found to be an effective adjunct to therapy in individuals with motor impairments, especially due to stroke.

<span class="mw-page-title-main">Powered exoskeleton</span> Wearable machine meant to enhance a persons strength and mobility

A powered exoskeleton is a mobile machine that is wearable over all or part of the human body, providing ergonomic structural support and powered by a system of electric motors, pneumatics, levers, hydraulics or a combination of cybernetic technologies, while allowing for sufficient limb movement with increased strength and endurance. The exoskeleton is designed to provide better mechanical load tolerance, and its control system aims to sense and synchronize with the user's intended motion and relay the signal to motors which manage the gears. The exoskeleton also protects the user's shoulder, waist, back and thigh against overload, and stabilizes movements when lifting and holding heavy items.

Homayoon Kazerooni is an Iranian-born American roboticist, mechanical engineering, and professor. He serves as a professor of mechanical engineering, and the director of the Berkeley Robotics and Human Engineering Laboratory at the University of California, Berkeley. Kazerooni is also the co-founder of Ekso Bionics and SuitX. As a noted authority on robotics, he is frequently profiled and quoted in the media.

<span class="mw-page-title-main">Ekso Bionics</span>

Ekso Bionics Holdings Inc. is a company that develops and manufactures powered exoskeleton bionic devices that can be strapped on as wearable robots to enhance the strength, mobility, and endurance of industrial workers and people experiencing paralysis and mobility issues after a brain injury, stroke, multiple sclerosis (MS) or spinal cord injury. They enable individuals with any amount of lower extremity weakness, including those who are paralyzed, to stand up and walk.

Berkeley Robotics and Human Engineering Laboratory is managed and operated by University of California, Berkeley. The lab conducts scientific research on the design and control of a class of robotic systems worn or operated by humans to increase human mechanical strength.

The Vanderbilt exoskeleton, marketed as Indego, is a powered exoskeleton designed by the Center for Intelligent Mechatronics at Vanderbilt University in the U.S. state of Tennessee. It is intended to assist paraplegics, stroke victims and other paralyzed or semi-paralyzed people to walk independently. Motion and control technologies manufacturer Parker Hannifin is funding further development, and plans to release the first commercial version of the exoskeleton in 2015.

The Maintenance Equipment Integrated System of Telecontrol Robot (MEISTeR) is a service robot by the Mitsubishi Heavy Industries (MHI). It was specifically designed to work at the devastated Fukushima Daiichi Nuclear Power Plant.

Neuromechanics of orthoses refers to how the human body interacts with orthoses. Millions of people in the U.S. suffer from stroke, multiple sclerosis, postpolio, spinal cord injuries, or various other ailments that benefit from the use of orthoses. Insofar as active orthoses and powered exoskeletons are concerned, the technology to build these devices is improving rapidly, but little research has been done on the human side of these human-machine interfaces.

<span class="mw-page-title-main">Proportional myoelectric control</span>

Proportional myoelectric control can be used to activate robotic lower limb exoskeletons. A proportional myoelectric control system utilizes a microcontroller or computer that inputs electromyography (EMG) signals from sensors on the leg muscle(s) and then activates the corresponding joint actuator(s) proportionally to the EMG signal.

Yoshiyuki Sankai is a Japanese billionaire businessman and academic, the founder, president and CEO of the cyborg-robot maker Cyberdyne; and professor of the Graduate School of Systems & Information Engineering at the University of Tsukuba.

<span class="mw-page-title-main">Soft exoskeleton</span> Powered exoskeleton without a rigid shell or frame

A soft exoskeleton, also known as a soft wearable robot or a soft robotic exosuit, is a type of wearable robotic device designed to augment and enhance the physical abilities of the human body. Unlike traditional rigid exoskeletons, which are typically made of hard materials like metal and are worn over the user's limbs, soft exoskeletons are constructed from flexible and lightweight materials. Soft exoskeletons are designed to assist individuals with mobility impairments, aid in rehabilitation, augment human performance, and improve overall quality of life.

Kyoungchul Kong is a South Korean mechanical engineer, entrepreneur, academic, and author. He was selected as one of the Leader Scientists from the National Research Foundation of Korea in 2023. He serves as an associate professor at the Korea Advanced Institute of Science and Technology (KAIST) and is the Chief Executive Officer (CEO) of Angel Robotics.

References

  1. ↑ "Robot suit offers glimmer of hope to the paralysed". Times of Malta. 11 March 2011. Retrieved 26 August 2012.
  2. 1 2 "Robots to the rescue as an aging Japan looks for help". The Australian . 13 October 2012. Retrieved 17 October 2012.
  3. 1 2 "Japan robot suit gets global safety certificate". AFP via Google. 27 February 2013. Archived from the original on 5 March 2013. Retrieved 28 February 2013.
  4. 1 2 "TÜV Rheinland Issues EC certificate for Cyberdyne's Medical Robot Suit HAL®". TÜV Rheinland. 7 August 2013. Archived from the original on 16 January 2021. Retrieved 14 August 2013.
  5. 1 2 "Global Companies from Japan". Weekly Toyo Keizai. 14 September 2013. Archived from the original on 29 July 2014. Retrieved 17 March 2014.
  6. 1 2 "Smart walkers lead the way for Japanese elder-care robots". ITWorld.com. 16 October 2014. Archived from the original on 20 June 2018. Retrieved 22 October 2014.
  7. 1 2 "New HAL Exoskeleton: Brain-Controlled Full Body Suit to Be Used in Fukushima Cleanup". Neurogadget.com. 18 October 2012. Archived from the original on 21 October 2012. Retrieved 22 October 2012.
  8. ↑ "Cyberdyne power suit". 31 July 2009. Archived from the original on 21 December 2021. Retrieved 26 August 2012– via YouTube.
  9. ↑ "HAL, a friend for people with disabilities". Nipponia. Web Japan. 15 September 2006. Retrieved 16 July 2013.
  10. ↑ "The design, manufacture and servicing of wearable lower limb exoskeleton devices for rehabilitation and physical training" (PDF). Underwriters Laboratories. 11 December 2012. Retrieved 16 July 2013.
  11. ↑ Suzuki, Kenta; Mito, Gouji; Kawamoto, Hiroaki; Hasegawa, Yasuhisa; Sankai, Yoshiyuki (January 2007). "Intention-based walking support for paraplegia patients with Robot Suit HAL". Advanced Robotics. 21 (12): 1441–1469. doi:10.1163/156855307781746061. S2CID   16791965. Archived from the original on 14 January 2011. Retrieved 3 September 2020.
  12. ↑ Kawamoto, Hiroaki; Kamibayashi, Kiyotaka; Nakata, Yoshio; Yamawaki, Kanako; Ariyasu, Ryohei; Sankai, Yoshiyuki; Sakane, Masataka; Eguchi, Kiyoshi; Ochiai, Naoyuki (2013). "Pilot study of locomotion improvement using hybrid assistive limb in chronic stroke patients". BMC Neurology. 13: 141. doi: 10.1186/1471-2377-13-141 . PMC   3851710 . PMID   24099524.
  13. ↑ "Research Program Cybernics University of Tsukuba". Global COE Program, Cybernics. University of Tsukuba. 1 April 2007. Archived from the original on 27 October 2014. Retrieved 17 March 2014.
  14. ↑ Morris, L., Diteesawat, R.S., Rahman, N. et al. The-state-of-the-art of soft robotics to assist mobility: a review of physiotherapist and patient identified limitations of current lower-limb exoskeletons and the potential soft-robotic solutions. J NeuroEngineering Rehabil 20, 18 (2023). https://doi.org/10.1186/s12984-022-01122-3
  15. ↑ Computers for the Development of Young Disabled Children – Introduction to the Special Thematic Session. ACM.org. 2002. pp. 170–172. ISBN   9783540439042 . Retrieved 26 November 2012.
  16. ↑ "Influence of Virtual Reality Soccer Game on Walking Performance in Robotic Assisted Gait Training for Children". AbleData.com. April 2010. Archived from the original on 18 October 2013. Retrieved 26 November 2012.{{cite web}}: CS1 maint: unfit URL (link)
  17. ↑ "Current scientific studies to exoskeleton therapy with Hybrid Assistive Limb". WALK AGAIN Center. Retrieved 28 January 2016.
  18. ↑ "CES Spotlight: Japanese Robot Exoskeletons". 12 January 2011. Archived from the original on 23 January 2013. Retrieved 28 February 2013.
  19. ↑ "Cyberdyne demos lower-body HAL exoskeleton for helping the disabled, not eradicating mankind (video)". 15 March 2011. Retrieved 28 February 2013.
  20. ↑ "Robotic Exoskeletons from Cyberdyne Could Help Workers Clean Up Fukushima Nuclear Mess". Scientific American . 9 November 2011. Retrieved 27 November 2011.
  21. ↑ "Hospitals to test robot suit to help patients walk". The Asahi Shimbun. 9 February 2013. Archived from the original on 13 February 2013. Retrieved 17 February 2013.
This page is based on this Wikipedia article
Text is available under the CC BY-SA 4.0 license; additional terms may apply.
Images, videos and audio are available under their respective licenses.