Due to the change of industrial processes and demographic shift in many countries, an increase in the use and application of exoskeletons is expected. However, design, development and deployment of exoskeletons requires testing. The standard way of testing novel interactive technologies by user studies suffers from a number of limitations, namely low repeatability between and within subjects, high resource demands, and technical and logistical issues. In this paper, we therefore promote the idea to use robots for more systematic and effective testing of exoskeletons. We suggest a threefold methodology that (i) employs models and simulation to investigate essential mechanisms of the human’s or the robot’s interaction with the exoskeleton, (ii) relies on capturing human motion and using machine learning to model it, and (iii) develops a dedicated platform to deploy the learned human-like motion models on the testing robot. In particular, we argue for a robot design that is specifically tailored to this testing task and can exhibit human-like motion. In this paper we discuss our methodology and its steps towards design and development of such a dedicated test platform.

adhesive ABSTRACT In this study; experimental failure analysis was investigated on adhesively single-lap joints produced using adhesives reinforced with uni-directional glass fibers. Epoxy adhesive impregnated fiber were used to join composite plates with single-lap joints. It is aimed to strengthen the joint by using fiber layers impregnated with adhesive between the two composite plates. The failure loads of the joints obtained with reinforced adhesives were compared with the failure loads of the joints attached to the non-reinforced adhesive. Also, 0 o , 15 o 30 o and 45 o fiber reinforcement angles were used to investigate the effect of fiber reinforcement angle. As a result of the experimental study, it was determined that reinforcing the adhesives can increase the damage loads by up to

Numerous robotic and control applications have strict real-time requirements, which, when violated, result in reduced quality of service or, in case of safety critical applications, might even have catastrophic consequences. To ensure that certain real-time constraints are satisfied, roboticists have relied on real-time safe frameworks, environments and middleware. With the introduction of ROS 2, alongside kernel patches such as PREEMPT_RT, there is an abundance of solutions to pick from. This paper compares OROCOS and ROS 2 over PREEMPT_RT and vanilla Linux kernels in a variety of benchmarks and draws conclusions on their performance in real-time critical applications. The outcome of the benchmark shows comparable performances under normal conditions. However, when the system is under stress both frameworks suffer in different fashions. Furthermore, the results show an accumulating error which over time violates the real-time requirements in both frameworks. These findings are paramount in conducting real world application with real-time constraints.