SUBMITTED TO DR.GEETA SINGH MRS. POONAM SHEORAN ASSIST. PROF. BME DEPT. D.C.R.U.S.T

SUBMITTED BY AMAN SHARMA 14001007901 B.TECH (4tH YEAR) BIOMEDICAL ENGG.

Cyborg-type robot that can support, expand or improve physical capability.

Capable of allowing the operator to lift and carry about five times as much weight as he or she could lift and carry unaided

Two Versions HAL 3 – Legs only HAL 5 – Full body suit

HAL has a height of 1.6 meters and weights 23 kg, it is divided between the top part and the two mobile parts of the bottom. Top section weight is around 8 kg and the parts attached to legs together weigh 15 kg. The battery provides a range of 2 hours and 40 minutes where the user can lift weights, can walk or use the suit for entertainment purposes. Maximum weight that can be lifted with the suit is 70 kg, a value that exceeds capabilities of a simple human.

covering the leg area, HAL offers a full support for persons with limb disabilities. A voluntary control could not be valid for patients who are not able to send brain signals to the muscles. In this case biocybernic control is not available, Cybernic Autonomous Control taking its place.

Researched started by Dr. Sankai, a professor at Tsukuba University in Japan.

HAL was created for rehabilitation patients and physical training support in medical field.

Can also be used for heavy labor, and possible rescue support at disaster sites,

Possibly in the entertainment field in the future.

Not intended for Military Use

The robotic suit HAL® is the only approved system of its kind that traps the electrical signals of the brain via the skin surface of the lower limbs and supports them in a motorized manner. The movement is thus a controlled activity deliberately desired by the patient. The positive feedback is sent back from muscles to the brain. During the rehabilitation period using HAL® Therapy the musculature gets built up, the walking pattern improves significantly, becomes safer an walking aids can be reduced.

Bio-Cybernic Control -It is designed to process information from the human body.

Cybernic Control -It is designed to read the information about human body movement with respect to the environment and control the suit based on it.

bio cybernic Control -sets body movement intentions by reading the bioelectric signals from muscles. Not every type of signal is taken into account, first of all the signal that causes contraction of the muscle fiber is read, this signal is called a myoelectric signal. The synchronization of the suit with human body can be done easily after reading these myoelectric signals which occur before the visible movement of the muscle. According to the received signal and its value, the system responds by amplifying torque and supports the movement.

Using these electrical impulses from muscles has led to the development of a control system which does not require human intervention using a physical control like a joystick or a remote control.

cybernic Autonomous Control -intervenes when signals from the brain to lower parts are interrupted (e.g. for a patient with paraplegia). Unable to detect signals, the suit can’t establish motion intentions, but aided by the Autonomous Control system the suit can detect floor reaction forces and joint angles. In this case the exoskeleton suit provides physical support by generating torque. This feature can be useful to sick patients who require support for motion.

The sensor is the suit whether on the lower body or full body . The suit sensor are placed on part of the body where brain signal are able to be found . These signals are used to control the robot function

The range of sensors used in construction varies from acceleration sensors to bioelectrical sensors, angular sensors, acceleration sensors and floor reaction force sensors (COP/COG sensors). All these sensors could not be useful without the usage of a powerful CPU to process the information, motors to actuate its elements or a battery power source to energize the entire system.

Voluntary control system

When a person attempts to move, nerve signals are sent from the brain to the muscles from the moto neurons and very weak bio signals can be detected on the surface of the skin.

HAL catches these signals through a sensor attached on the skin of the user.

Based on the signals obtained, the power unit is controlled to move the suit in unison with the user's muscle movement.

Robotic autonomous control system provides human-like movement based on a

robotic system which works together with the autonomous control system

HAL is the world's first cyborg-type robot controlled by a hybrid system voluntary control system mixed with

a robotic autonomous control system

Only available in Japan at the moment

Expensive to the public $14,000-19,000 for one suit

Decreases physiological cost Index after a patient uses HAL

Very Short Battery Life Needs to be continuously charged

Suit with… Longer Battery Life Less weight Less expensive to public Give more support to the user

Therapeutic games using the HAL that can stimulate cognitive activities and help disabled patients walk while playing.

Cyberdyne plans on modifying suits specifically for disaster recovery like the Fukushima nuclear accident.

During the HAL® Therapy, impulses from the leg muscles are sent back to the brain. In this manner, a so called neuromuscular feedback is created that causes activation of the cerebral area responsible. The overall condition improves considerably.

The hybrid assisted limb is used on the body limb or limbs that are disable.

The movement of the hybrid assisted limb is based on the joint in human body.

Hybrid assisted limb is able to move the regular body part but not pick up or move .

Very Successful By October 2012, over 300 HAL suits were in use by 130

medical facilities in Japan In late February 2013, HAL received a global safety

certificate, becoming the first powered exoskeleton to do so

In November 2011, HAL was selected to be used for cleanup work at the site of the Fukushima nuclear accident.

Increases patients stride length and walking speed significantly

http://walk-again.com/hal-therapy. www.smashingrobotics.com www.cyberdyne.jp