HAL Exoskeleton

   
The Hybrid Assistive Limb (also known as HAL) is a powered exoskeleton suit developed by Japan's Tsukuba University and the robotics company Cyberdyne. It has been 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.

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. By October 2012, HAL suits were in use by 130 different medical institutions across Japan. In February 2013, the HAL system became the first powered exoskeleton to receive global safety certification. In August 2013, HAL received EC certification for clinical use in Europe as the world's first non-surgical medical treatment robot. In addition to its medical applications, the HAL exoskeleton has been used in construction and disaster response work

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.” In 1989, after receiving his Ph.D. 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.

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. In December 2012, Cyberdyne was certified ISO 13485 – an international quality standard for design and manufacture of medical devices – by Underwriters Laboratories. In late February 2013, the HAL suit received a global safety certificate, becoming the first powered exoskeleton to do so. 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.

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.

Users
HAL is designed to assist the disabled and 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.

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

April 16, 2009 Anyone who has seen Aliens will remember the exoskeleton forklift that Ripley wears to fight the alien queen at the end of the movie. Well, Japanese company Cyberdyne has unveiled a robotic suit that works on a similar idea of a robotic suit capable of augmenting human motion and strength. The Robot Suit Hybrid Assistive Limb (HAL for short) is a wearable robot that uses a “voluntary control system” first to interpret the wearers' planned movement and then assist them in it.

The suit's "voluntary control system" works by capturing bio-electrical signals detected on the surface of the skin, before the muscles actually move. The system analyzes these signals to determine how much power the wearer intends to generate and calculates how much power assist must be generated by which power units. The power units then generate the necessary torque and the limbs move. All this takes place a split second before the muscles start moving, allowing the relevant robotic joints to move in unison with the wearer’s muscles.

The suit also uses a "robotic autonomous control system" that provides human-like movement based on movements stored in a database. The movements, which are automatically updated based on information that sensors collect from the body, allow HAL to autonomously coordinate each motion. This means HAL can be used even if no bio-electrical signals are detected, due to problems, say, in the central nervous system or the muscles.

The battery, worn on the back, provides about two hours and 40 minutes of continuous running time, although a newer battery promises more like five hours of use, assisting in daily activities such as standing up from a chair, walking, climbing up and down stairs or lifting heavy objects. At 1.6m tall, the suit weighs 23kg, but the wearer is not expected to carry the burden since the exoskeleton supports its own weight.

With the ability to multiply the wearer’s strength by a factor of between two and 10, depending on the type of robnotic suit being worn, Cyberdyne expects HAL to be used in a range of ways and areas, such as rehabilitation and physical training support, helping disabled people, heavy lifting, and assisting in rescue at disaster sites. The company also sees potential in the entertainment industry – perhaps a cage match fight to the death between HAL and the alien queen, if anyone's game.

The Robot Suit HAL is only available to Japanese residents, although an office has been set up to introduce it to the European Union.