The paper proposes a concept of a movement diagnostics system of enhanced performances. The existing system, using electromyographic (EMG) and ground reaction force signals as inputs, has been applied primarily to sports locomotion evaluation and testing, providing suitable quantitative criteria. The proposed enhancement relies on movement simulation facility, incorporating subject-specific anatomical and functional data on the neuro-musculo-skeletal system of extremities. Reflecting the principles of anthropomorphic robotics, the computer graphics simulation is conceptualized to generate artificial (synthesized) movement patterns in virtual reality.

By comparing synthesized and measured signals the suitable feedback information is provided that may be used to enhance the overall system's performance. Using the power of computer technology and computer graphics, a user-friendly system of high ergonomic potentials is thus devised, in order to enhance the quality and efficacy of diagnostic procedure. The bioengineering principles used and the merging of measurement with simulation in the process of operation define a powerful instrument applicable to both healthy and pathological movement assessment.

Robotic vehicles have a wide field of applications in the civilian and military industry including manufacturing, assembly lines, security, operation in hostile environment, and testing. In the defense area, robotic vehicles have the potential for force multiplication and removing the soldier from hazardous environments on the battlefield. To make such vehicles avaialable requires research, development, testing and demonstration of advanced robotics and artificial intelligence (AI) technologies and systems. A realistic effort towards that objective requires the establishment of an advanced laboratory responsible for evaluation and development of subsystems and integration of the various elements into vehicles for field tests. Hence, requirements for the laboratory are given including a layout design and link analysis of the different components. As the first part of planning the laboratory, the technology was assessed to assure inclusion of the state-of-the-art equipment. Then, equipment requirements were defined, including interactions between pieces of equipment and providing for support, recording and monitoring equipment.

The problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.

This paper presents a new program package for the generation of efficient manipulator kinematic and dynamic equations in symbolic form.

The basic algorithm belongs to the class of customized algorithms that reduce the computational burden by taking into account the specific characteristics of the manipulator to be modelled. The output of the package is high-level computer program code for evaluation of various kinematic and dynamic variables: the homogeneous transformation matrix between the hand and base coordinate frame, Jacobian matrices, driving torques and the elements of dynamic model matrices. The dynamic model is based on the recursive Newton-Euler equations. The application of recursive symbolic relations yields nearly minimal numerical complexity. Further improvement of computational efficiency is achieved by introducing different computational rates for the terms depending on joint angles, velocities and accelerations. A comparative study of numerical complexity for several typical industrial robots is presented.