This paper describes recent developments of a robotic hummingbird project, aimed at achieving precision stationary hovering. To this end, the early version of our flapping mechanism is modified which, besides being more efficient, reduces significantly the asymmetry of the wing trajectory of the previous version. A cascade control strategy is used to compensate for the residual parasitic torques and the misalignment of the lift vector and the autopilot.

This paper reports on the current status of the effort conducted at ULB in order to develop a portable muscular rehabilitation device for telemedicine applications. It is divided into four parts. The first part recalls the basic modes of muscular rehabilitation and gives a brief overview of commercial rehabilitation machines as well as portable devices under development. The second part describes the design of the proposed device and justifies the selection of MR-fluid brake actuation. The third part is devoted to the description of the control strategies implemented on the device. Finally, the last part describes preliminary results obtained with the device for the various exercise modes.

This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.