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This paper presents a new haptic locomotion interface, which comprises two programmable foot platforms with permanent foot machine contact. It is designed as a scalable and modular system with unit-by-unit extensibility offering up to six plus one degrees of freedom (DOF) per foot. The basic setup comprises three DOF per foot in the sagittal plane.The(More)
BACKGROUND Gait restoration is an integral part of rehabilitation of brain lesioned patients. Modern concepts favour a task-specific repetitive approach, i.e. who wants to regain walking has to walk, while tone-inhibiting and gait preparatory manoeuvres had dominated therapy before. Following the first mobilization out of the bed, the wheelchair-bound(More)
In September 2006 an integrated European project was launched entitled " Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA) ". PISA belongs to the research area " next generation of flexible assembly technology and processes ". The general aim of the project is to develop intelligent assist systems (IAS) in(More)
This paper presents several novel interactive human-robot systems which were recently developed at IPK. These systems were designed for direct physical interaction between humans and robots. The principal structures and functions of the following ro-botic systems are briefly presented: ROBOPED, an advanced parallel robot for orthope-dic diagnostics and(More)