**3.1.3 Cognition augmentation**

122 The Future of Humanoid Robots – Research and Applications

Left: Copyright T. Bock, Telerobotic Caisson Construction Project, Right: Copyright T. Bock, MITI

This category represents robotic devices which are equipped with a part of human body and support its movements. These systems should be designed accurately not to interfering complex movements on joints. An exoskeleton developed by University of Tsukuba works only when the wearer needs its help so that it doesn't disturb wearer's delicate works [12]. Researchers in Okayama University developed some wearable robots called "Power Assist Wear" [13]. Their actuator is a pneumatic rubber artificial muscle which is light, soft and fitted for users. "Power Assist Glove" is made from a curved type of artificial muscle which is a combination of materials with different stretch, e.g. rubbers and cloths. Although they are mainly used as rehabilitation tools at the moment because of their limited effectiveness, some products aim at being adapted to construction works and enabling elderly or female

> Exoskeleton Hand and Wrist Support System: http://www.edu.esys.tsukuba.ac.jp/ ~hase/ForearmSupport.html

Fig. 7. Tele-operated Power Effectors used in mining, Japan

**3.1.2 Sensing and motion augmentation** 

workers to work with less physical efforts.

**Exoskeleton hand and wrist support system**

Yasuhisa Hasegawa

Prototype, Research and Development Project

and wrist without decreasing

**Developer** University of Tsukuba

**Target user** People with weakened

DOF

**Sensor** Bio-electric potential

**Actuator** DC Motor x 12

**Weight** 1850 g

holding force **Purpose** Assist for motions of hand

measurement

Chikakukan Project, 1985

**Leading Researcher** 

**Technology Readiness** 

Wearable computing systems are systems which are attached to a person's body during use. A main goal of researchers and developers is that this systems work seamlessly in the background. They shall assist a person in various situations but not distracting him or the environment - at the best they are invisible. Wearable Computing technologies have initially been developed for monitoring astronauts: Life Guard [14] by NASA and Stanford University, USA, Health Gear [15] by Microsoft Research, E-Watch [16] by Technical University of Munich, Germany and Carnegie Melon University, USA, V-Mote [17] by Virginia Commonwealth University. Today, wearable computing systems are increasingly applied in the industry and service scenarios. A multitude of applications are envisioned in the military, too. This category "Wearable Computing" mainly represents technologies that support or augment human sight, hearing and cognition but not human's physical motion power. Compared to mobile robots and humanoids, these wearable computing devices generally have a lower degree of autonomy as they are directly connected to the human activity.

Application in Construction: Augmented and Mixed Reality applications can support workers off-site and on-site to perform assembly operations. Wearable sensors devices attached to workers can be used to monitor their construction acidity as well as their health. Various AR and MR application have been developed at the laboratory of the authors in a project called MARY [18].


URL\_=product\_hmd\_liteye \_700&SubCatID\_=15&model =products&action =get&tab=summary

Exoskeleton and Humanoid Robotic Technology in Construction and Built Environment 125

Prototype, Tested in own Factories

stairs, in a semi-crouching

Walking Assist Device Honda: http://world.honda.com/news/ 2008/c081107Walking-Assist-Device/

KAS: Prof. Thomas Bock

Smart Suit: http://smartsuit.org/

**Walking Assist Device with Bodyweight Support** 

**Power Supply** Rechargeable Lithium-ion Battery

**Based Technology** Honda Humanoid Robot ASIMO

Chang Soo Han

impairment on knees

Level walking and Step walking while carrying heavy

Prototype, Research and Development Project

Takayuki Tanaka, Hokkaido

Prototype, Used for Restoration

**Support Motions** Walking, going up and down

position **Sensor** Shoes: Foot force sensors

**Developer** Hanyang Univ. Korea

**Target User** Construction Workers **Purpose** Prevention against

materials

45 kg

**Sensor** Muscle Stiffness Sensor **Actuator** Flat motor, Harmonic drive

University **Target User** Agricultural workers, Care workers

Works **Model** Smart Suit / Smart Suit Light

14%

**Actuator** Elastic Material, small motor / Elastic Material

**Sensor** Back: Bending sensor

**Weight** 1 kg (goal) / 400g **Power Supply** Dry battery

**Developer** Smart Support

**Target User** Walker, Factory Workers

**System** 

**Technology Readiness** 

**Leading Researcher** 

**Support Motions** 

**Technology Readiness** 

**Strength of Assistance** 

**Smart Suit** 

**Technology Readiness** 

**Reduction of Fatigue** 

**Leading Researcher** 

**Developer** Honda

**Weight** 6.5 kg **Drive System** Motor x 2

**Operating time** 2 hours

**KAS: Knee-assistive System**
