Статті в журналах з теми "Powered industrial exoskeleton"

Full-body, powered wearable exoskeletons combine the capabilities of machines and humans to maximize productivity. Powered exoskeletons can ease industrial workers in manipulating heavy loads in a manner that is difficult to automate. However, introduction of exoskeletons may result in unexpected work hazards, due to the mismatch between user-intended and executed actions thereby creating difficulties in sensing the physical operational envelope, need for increased clearance, and maneuverability limitations. To control such hazards, this paper presents a rearview human localization augmented reality (AR) platform to enhance spatial awareness of people behind the exoskeleton users. This platform leverages a computer vision algorithm called Monocular 3D Pedestrian Localization and Uncertainty Estimation (MonoLoco) for identifying humans and estimating their distance from a video camera feed and off-the-shelf AR goggles for visualizing the surrounding. Augmenting rear view awareness of humans can help exoskeleton users to avoid accidental collisions that can lead to severe injuries.

Purpose – This article aims to provide details of recent robotic exoskeleton developments and applications. Design/methodology/approach – Following an introduction, this article first considers some of the technological issues associated with an exoskeleton design. It then discusses military developments, industrial load-carrying applications and uses in healthcare. Progress in thought-controlled exoskeletons is discussed briefly, and finally, concluding comments are drawn. Findings – This article shows that, while military interests continue, the dominant application is to restore or enhance mobility to individuals suffering from disabilities or injuries. An emerging use is to increase the strength and endurance of industrial workers. The majority are lower-limb devices, although some full-body exoskeletons have been developed, and most rely on battery-powered electric motors to create motion. Reflecting the anticipated growth in applications, exoskeletons are now available from, or under development by, a growing number of commercial organisations. Originality/value – This provides an insight into the latest developments in robotic exoskeletons and their applications.

Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.

Active orthoses and powered exoskeletons, among other denominations, are devices made to attach to one or several human limbs in order to assist their movement through means of electronically controlled actuators and/or mechanical brakes. The technology developed for these devices can be used in many situations, such as rehabilitation, industrial and general strength enhancement purposes. In order to create a comprehensive state-of-the-art work, several online scientific databases were used to gather articles related to this subject, using the terms "Exoskeleton", "Orthosis", "Orthesis" and "Rehabilitation Robot". This survey resulted in the retrieval of 169 articles. Afterward, a custom database was created to contain, organize and cross the information gathered from each relevant article. This work presents statistical results regarding research development localization, actuation technologies and the man-machine interface. Out of the 123 identified projects/prototypes, 89 are primarily dedicated to rehabilitation activities and 14 refer to strength enhancement. From 2005 onwards, the results show that the DC Motor is the most used, being present in 56% of all the projects and in 47% of mobile devices with weight constraints. The electromyographic sensor is the most used sensor type. By grouping all sensors into physical variable classes, the force-related sensors show a higher number of occurrences. Regarding the localization of the research and development over these devices, the United States of America is the country with the largest dedication, followed by Japan.

Purpose The purpose of this paper is to design and develop a new robotic device for the rehabilitation of the upper limbs. The authors are focusing on a new symmetrical robot which can be used to rehabilitate the right upper limb and the left upper limb. The robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The main idea is to integrate electrical stimulation into motor rehabilitation by robot. The goal is to provide automatic electrical stimulation based on muscle status during the rehabilitation process. Design/methodology/approach The developed robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The system merges two rehabilitation strategies: motor rehabilitation and electrical stimulation. The goal is to take the advantages of both approaches. Electrical stimulation is often used for building muscle through endurance, resistance and strength exercises. However, in the proposed approach the electrical stimulation is used for recovery, relaxation and pain relief. In addition, the device includes an electromyography (EMG) muscle sensor that records muscle activity in real time. The control architecture provides the ability to automatically activate the appropriate stimulation mode based on the acquired EMG signal. The system software provides two modes for stimulation activation: the manual preset mode and the EMG driven mode. The program ensures traceability and provides the ability to issue a patient status monitoring report. Findings The developed robotic device is symmetrical and reconfigurable. The presented rehabilitation system includes a muscle stimulator associated with the robot to improve the quality of the rehabilitation process. The integration of neuromuscular electrical stimulation into the physical rehabilitation process offers effective rehabilitation sessions for neuromuscular recovery of the upper limb. A laboratory-made stimulator is developed to generate three modes of stimulation: pain relief, massage and relaxation. Through the control software interface, the physiotherapist can set the exercise movement parameters, define the stimulation mode and record the patient training in real time. Research limitations/implications There are certain constraints when applying the proposed method, such as the sensitivity of the acquired EMG signals. This involves the use of professional equipment and mainly the implementation of sophisticated algorithms for signal extraction. Practical implications Functional electrical stimulation and robot-based motor rehabilitation are the most important technologies applied in post-stroke rehabilitation. The main objective of integrating robots into the rehabilitation process is to compensate for the functions lost in people with physical disabilities. The stimulation technique can be used for recovery, relaxation and drainage and pain relief. In this context, the idea is to integrate electrical stimulation into motor rehabilitation based on a robot to obtain the advantages of the two approaches to further improve the rehabilitation process. The introduction of this type of robot also makes it possible to develop new exciting assistance devices. Originality/value The proposed design is symmetrical, reconfigurable and light, covering all the joints of the upper limbs and their movements. In addition, the developed platform is inexpensive and a portable solution based on open source hardware platforms which opens the way to more extensions and developments. Electrical stimulation is often used to improve motor function and restore loss of function. However, the main objective behind the proposed stimulation in this paper is to recover after effort. The novelty of the proposed solution is to integrate the electrical stimulation powered by EMG in robotic rehabilitation.

Purpose This paper aims to overcome some of the practical difficulties in assistive control of exoskeletons by developing a new assistive algorithm, called output feedback assistive control (OFAC) method. This method does not require feedbacks from force, electromyography (EMG) or acceleration signals or even their estimated values. Design/methodology/approach The presented controller uses feedbacks from position and velocity of the output link of series elastic actuators (SEAs) to increase the apparent integral admittance of the assisted systems. Optimal controller coefficients are obtained by maximizing the assistance ratio subjected to constraints of stability, coupled stability and a newly defined comfort measure. Findings The results confirm the effectiveness of using the inherent properties of SEAs for removing the need for extra controversial sensors in assistive control of 1 degree of freedom (1-DOF) SEA powered exoskeletons. The results also clearly indicate the successful performance of the OFAC method in reducing the external forces required for moving the assisted systems. Practical implications As the provided experiments indicate, the proposed method can be easily applied to single DOF compliantly actuated exoskeletons to provide a more reliable assistance with lower costs. This is achieved by removing the need for extra controversial sensors. Originality/value This paper proposes a novel assistive controller for SEA-powered exoskeletons with a simple model-free structure and independent of any information about interaction forces and future paths of the system. It also removes the requirement for the extra sensors and transforms the assistive control of the compliantly actuated systems into a simpler problem of position control of the SEA motor.

Since 1960s, the development of exoskeleton robots have been advancing in the applications such as load carrying, walking endurance, physical assistance and rehabilitation therapy. Rehabilitation therapy in itself is related to walking ability restoration; especially for the elder people. A survey by The United Nations in 2017 revealed increase trend in the number of ageing population. Due to ageing, it may cause weakened limbs, lower limb injuries or disabilities resulting in walking impairment. Elder people suffering from walking impairment will need to undergo walking therapy to recover walking ability. A walking rehabilitation exoskeleton robot can be used for such patients to undergo the therapy by wearing it on their lower body. A lower limb exoskeleton effectiveness for gait recovery assessment in the design stage is not truly explored yet. This can be done by obtaining the simulation model of the lower limb exoskeleton robot structure from its CAD design. The gait pattern tracking response performance of the exoskeleton design to given inputs can then be observed. The lower limb exoskeleton structure is designed using Autodesk Inventor and then imported into SimMechanics. A block diagram of the exoskeleton model is generated, whereby the model is simulated and its response is observed. Given mathematical expression and experimental data inputs, the exoskeleton model with control system is able to track given joint trajectory inputs. The lower limb exoskeleton model shows that the response of its joints to the inputs can replicate human joints behavior during walking for any given stimulus inputs.

Purpose This paper aims to provide an overview of robots presently in use by the military and an insight into some that are under development. Design/methodology/approach Following a short introduction, this paper first considers existing applications of robots in the military field, including details of Russian weaponised ground robots. It then highlights a range of military robot developments and concludes with a brief discussion. Findings Drones (unmanned aerial vehicles) and small unmanned ground vehicles (UGVs) are among the most widely used robots by the military. Russia is developing a growing armoury of heavily weaponised UGVs, some of which were recently deployed in Syria. Some topics of development include humanoid robots, powered exoskeletons, load-carrying robots, micro-air vehicles and autonomous land vehicles. Robots will play an ever-growing role in military actions, and while some developments offer longer-term prospects, others are expected to be deployed in the near future. Originality/value Robots are playing an increasingly important role in military conflicts, and this provides details of present-day and anticipated future uses of robots by the military.

AbstractNowadays, work-related musculoskeletal disorders have a drastic impact on a large part of the world population. In particular, low-back pain counts as the leading cause of absence from work in the industrial sector. Robotic exoskeletons have great potential to improve industrial workers’ health and life quality. Nonetheless, current solutions are often limited by sub-optimal control systems. Due to the dynamic environment in which they are used, failure to adapt to the wearer and the task may be limiting exoskeleton adoption in occupational scenarios. In this scope, we present a deep-learning-based approach exploiting inertial sensors to provide industrial exoskeletons with human activity recognition and adaptive payload compensation. Inertial measurement units are easily wearable or embeddable in any industrial exoskeleton. We exploited Long-Short Term Memory networks both to perform human activity recognition and to classify the weight of lifted objects up to 15 kg. We found a median F1 score of $$90.80\%$$ 90.80 % (activity recognition) and $$87.14\%$$ 87.14 % (payload estimation) with subject-specific models trained and tested on 12 (6M-6F) young healthy volunteers. We also succeeded in evaluating the applicability of this approach with an in-lab real-time test in a simulated target scenario. These high-level algorithms may be useful to fully exploit the potential of powered exoskeletons to achieve symbiotic human–robot interaction.

Approximately 40 percent of the work-related musculoskeletal disorders (MSDs) are low back injuries. Recent advances in human-robotic cooperation, across the spectrum of passive assistance to powered augmentation, have shown strong potential to reduce MSD risks by reducing or transferring biomechanical loadings from targeted joints. However, exoskeletons could negatively impact users’ gaits and postures, and significantly increase users’ metabolic costs (Gregorczyk et al., 2010; Jin, Prado, & Agrawal, 2018). It has been shown that some industrial exoskeletons reduce loads on targeted parts of the body, such as shoulders, but increase loadings on other regions, such as spine (Picchiotti, Weston, Knapik, Dufour, & Marras, 2019; Weston, Alizadeh, Knapik, Wang, & Marras, 2018). Thus, the rapid application of exoskeletons and robotic interventions to the industry without proper ergonomic evaluations is likely to exacerbate current MSDs or introduce new risks to the workplaces such as cognitive overloads (NIOSH, 2018). In this study, the neuroergonomic fit of an industrial passive low-back exoskeleton (Laevo, Delft, The Netherlands) will be evaluated during simulated manual handling tasks with varying levels of physical and cognitive demands of twelve healthy adults (gender-balanced). Neuroergonomic fit is defined as a human-robotic fitness that minimizes the physical load while maximizes the neural (cognitive) availability of a user. An exoskeleton that demands minimum biomechanical loads and mental efforts is considered to be a neuroergonomic fit product. We hypothesized that using low-back exoskeleton will reduce the biomechanical loads on users’ low backs but increase users’ cognitive efforts while performing manual handling task. The objective of this study is to examine the neuroergonomic fit of exoskeletons during the manual handling tasks. During each 30-minute session, a subject will be instructed to perform a manual handling task of lifting a 16-pound medicine ball from the knees to the waist level asymmetrically (45o) at a frequency of 6 lifts per minute. The whole experiment consists of four sessions which is a combination of two experimental conditions (with/without an exoskeleton and with or without cognitive demands). The cognitively demanding task will be an arithmetic task of a serial 13 subtraction from a random number between 500 and 1000 in each cognitive intervention session. Each subject will participant in two random sessions per day for two separate days with at least one resting day in between. There will be a 30-minute resting period between two sessions to reduce any fatigue effect. The neural efforts of each subject will be calculated by measuring the brain activation patterns using a 21-channel portable continuous wave functional near-infrared spectroscopy (fNIRS) system NIRSport2TM (NIRx Medical Technologies, NY, USA). Multiple physical and cognitive task-related brain regions are measured. The regions include dorsolateral prefrontal cortex (dlPFC) which is correlated with working memory, supplementary motor area (SMA) and premotor cortex (PM) which are both in charge of motor planning. A 2 exoskeletons (1 control and 1 exoskeleton) x 2 tasks (physical and physical-cognitive condition) x 2 phases (early and late phases) analysis of variance (ANOVA), with a significance level of alpha at 0.05, will be used to assess their main and interaction effects on physical and cognitive task performance. The brain activation data will be used to identify functional and effective connectivity patterns among the regions which are related to different cognitive and motor functions under four conditions. Neural efficiency metric that integrates neural effort and task performance data will be used to monitor human-robotic cooperation at different phases of each session. The ultimate goal of this study is to improve exoskeleton-workplace safety and productivity by understanding, assessing, and augmenting the neuroergonomic fit exoskeletons during occupational manual handling tasks.

AbstractA common issue with many commercial rehabilitative exoskeletons and orthoses are that they can be prohibitively expensive for an average individual to afford without additional financial support. Due to this a user may have limited to the usage of such devices within set rehabilitation sessions as opposed to a continual usage. The purpose of this review is therefore to find which actuator implementations would be most suitable for a simplistic, low-cost powered orthoses capable of assisting those with pathologic gait disorders by collating literature from Web of Science, Scopus, and Grey Literature. In this systematic review paper 127 papers were selected from these databases via the PRISMA guidelines, with the financial costs of 25 actuators discovered with 11 distinct actuator groups identified. The review paper will consider a variety of actuator implementations used in existing lower-limb exoskeletons that are specifically designed for the purpose of rehabilitating or aiding those with conditions inhibiting natural movement abilities, such as electric motors, hydraulics, pneumatics, cable-driven actuators, and compliant actuators. Key attributes such as technical simplicity, financial cost, power efficiency, size limitations, accuracy, and reliability are compared for all actuator groups. Statistical findings show that rotary electric motors (which are the most common actuator type within collated literature) and compliant actuators (such as elastic and springs) would be the most suitable actuators for a low-cost implementation. From these results, a possible actuator design will be proposed making use of both rotary electric motors and compliant actuators.

0. IntroductionIf we follow the line of much literature surrounding airports and urban mobility, the emphasis often falls on the fact that these spaces are designed to handle the mega-scale and super-human pace of mass transit. Airports have rightly been associated with velocity, as zones of rapid movement managed by enormous processing systems that guide bodies and things in transit (Pascoe; Pearman; Koolhaas; Gordon; Fuller & Harley). Yet this emphasis tends to ignore the spectrum of tempos and flows that are at play in airport terminals — from stillness to the much exalted hyper-rapidity of mobilized publics in the go-go world of commercial aviation.In this photo essay I'd like to pull a different thread and ask whether it's possible to think of aeromobility in terms of “uneven, differential mobility” (Bissell 280). What would it mean to consider waiting and stillness as forms of bodily engagement operating over a number of different scales and temporalities of movement and anticipation, without privileging speed over stillness? Instead of thinking mobility and stillness as diametrically opposed, can we instead conceive of them as occupying a number of different spatio-temporal registers in a dynamic range of mobility? The following is a provisional "visual ethnography" constructed from photographs of air terminal light boxes I have taken over the last five years (in Amsterdam, London, Chicago, Frankfurt, and Miami). Arranged into a "taxonomy of differentiality", each of these images comes from a slightly different angle, mode or directionality. Each view of these still images displayed in billboard-scale light-emitting devices suggests that there are multiple dimensions of visuality and bodily experience at play in these image-objects. The airport is characterized by an abundance of what appears to be empty space. This may be due to the sheer scale of mass transport, but it also arises from a system of active and non-active zones located throughout contemporary terminals. This photo series emphasises the "emptiness" of these overlooked left-over spaces that result from demands of circulation and construction.1. We Move the WorldTo many travellers, airport gate lounges and their surrounding facilities are loaded with a variety of contradictory associations and affects. Their open warehouse banality and hard industrial sterility tune our bodies to the vast technical and commercial systems that are imbricated through almost every aspect of contemporary everyday life.Here at the departure gate the traveller's body comes to a moment's rest. They are granted a short respite from the anxious routines of check in, body scans, security, information processing, passport scanning, itineraries, boarding procedures and wayfaring the terminal. The landside processing system deposits them at this penultimate point before final propulsion into the invisible airways that pipe them into their destination. We hear the broadcasting of boarding times, check-in times, name's of people that break them away from stillness, forcing people to move, to re-arrange themselves, or to hurry up. Along the way the passenger encounters a variety of techno-spatial experiences that sit at odds with the overriding discourse of velocity, speed and efficiency that lie at the centre of our social understanding of air travel. The airline's phantasmagorical projections of itself as guarantor and enabler of mass mobilities coincides uncomfortably with the passenger's own wish-fulfilment of escape and freedom.In this we can agree with the designer Bruce Mau when he suggests that these projection systems, comprised of "openings of every sort — in schedules, in urban space, on clothes, in events, on objects, in sightlines — are all inscribed with the logic of the market” (Mau 7). The advertising slogans and images everywhere communicate the dual concept that the aviation industry can deliver the world to us on time while simultaneously porting us to any part of the world still willing to accept Diners, VISA or American Express. At each point along the way these openings exhort us to stop, to wait in line, to sit still or to be patient. The weird geographies depicted by the light boxes appear like interpenetrating holes in space and time. These travel portals are strangely still, and only activated by the impending promise of movement.Be still and relax. Your destination is on its way. 2. Attentive AttentionAlongside the panoramic widescreen windows that frame the choreography of the tarmac and flight paths outside, appear luminous advertising light boxes. Snapped tightly to grid and locked into strategic sightlines and thoroughfares, these wall pieces are filled with a rotating menu of contemporary airport haiku and ersatz Swiss graphic design.Mechanically conditioned air pumped out of massive tubes creates the atmosphere for a very particular amalgam of daylight, tungsten, and fluorescent light waves. Low-oxygen-emitting indoor plants are no match for the diesel-powered plant rooms that maintain the constant flow of air to every nook and cranny of this massive processing machine. As Rem Koolhaas puts it, "air conditioning has launched the endless building. If architecture separates buildings, air conditioning unites them" (Koolhaas). In Koolhaas's lingo, these are complex "junkspaces" unifying, colliding and coalescing a number of different circulatory systems, temporalities and mobilities.Gillian Fuller reminds us there is a lot of stopping and going and stopping in the global circulatory system typified by air-terminal-space.From the packing of clothes in fixed containers to strapping your belt – tight and low – stillness and all its requisite activities, technologies and behaviours are fundamental to the ‘flow’ architectures that organize the motion of the globalizing multitudes of today (Fuller, "Store" 63). It is precisely this functional stillness organised around the protocols of store and forward that typifies digital systems, the packet switching of network cultures and the junkspace of airports alike.In these zones of transparency where everything is on view, the illuminated windows so proudly brought to us by J C Decaux flash forward to some idealized moment in the future. In this anticipatory moment, the passenger's every fantasy of in-flight service is attended to. The ultimate in attentiveness (think dimmed lights, soft pillows and comfy blankets), this still image is captured from an improbable future suspended behind the plywood and steel seating available in the moment —more reminiscent of park benches in public parks than the silver-service imagined for the discerning traveller.3. We Know ChicagoSelf-motion is itself a demonstration against the earth-binding weight of gravity. If we climb or fly, our defiance is greater (Appleyard 180).The commercial universe of phones, cameras, computer network software, financial instruments, and an array of fancy new gadgets floating in the middle of semi-forgotten transit spaces constitutes a singular interconnected commercial organism. The immense singularity of these claims to knowledge and power loom solemnly before us asserting their rights in the Esperanto of "exclusive rollover minutes", "nationwide long distance", "no roaming charges" and insider local knowledge. The connective tissue that joins one part of the terminal to a commercial centre in downtown Chicago is peeled away, revealing techno-veins and tendrils reaching to the sky. It's a graphic view that offers none of the spectacular openness and flights of fancy associated with the transit lounges located on the departure piers and satellites. Along these circulatory ribbons we experience the still photography and the designer's arrangement of type to attract the eye and lure the body. The blobby diagonals of the telco's logo blend seamlessly with the skyscraper's ribbons of steel, structural exoskeleton and wireless telecommunication cloud.In this plastinated anatomy, the various layers of commercially available techno-space stretch out before the traveller. Here we have no access to the two-way vistas made possible by the gigantic transparent tube structures of the contemporary air terminal. Waiting within the less travelled zones of the circulatory system we find ourselves suspended within the animating system itself. In these arteries and capillaries the flow is spread out and comes close to a halt in the figure of the graphic logo. We know Chicago is connected to us.In the digital logic of packet switching and network effects, there is no reason to privilege the go over the stop, the moving over the waiting. These light box portals do not mirror our bodies, almost at a complete standstill now. Instead they echo the commercial product world that they seek to transfuse us into. What emerges is a new kind of relational aesthetics that speaks to the complex corporeal, temporal, and architectural dimensions of stillness and movement in transit zones: like "a game, whose forms, patterns and functions develop and evolve according to periods and social contexts” (Bourriaud 11). 4. Machine in the CaféIs there a possible line of investigation suggested by the fact that sound waves become visible on the fuselage of jet planes just before they break the sound barrier? Does this suggest that the various human senses are translatable one into the other at various intensities (McLuhan 180)?Here, the technological imaginary contrasts itself with the techno alfresco dining area enclosed safely behind plate glass. Inside the cafes and bars, the best businesses in the world roll out their biggest guns to demonstrate the power, speed and scale of their network coverage (Remmele). The glass windows and light boxes "have the power to arrest a crowd around a commodity, corralling them in chic bars overlooking the runway as they wait for their call, but also guiding them where to go next" (Fuller, "Welcome" 164). The big bulbous plane sits plump in its hangar — no sound barriers broken here. It reassures us that our vehicle is somewhere there in the network, resting at its STOP before its GO. Peeking through the glass wall and sharing a meal with us, this interpenetrative transparency simultaneously joins and separates two planar dimensions — machinic perfection on one hand, organic growth and death on the other (Rowe and Slutsky; Fuller, "Welcome").Bruce Mau is typical in suggesting that the commanding problem of the twentieth century was speed, represented by the infamous image of a US Navy Hornet fighter breaking the sound barrier in a puff of smoke and cloud. It has worked its way into every aspect of the design experience, manufacturing, computation and transport.But speed masks more than it reveals. The most pressing problem facing designers and citizens alike is growth — from the unsustainable logic of infinite growth in GDP to the relentless application of Moore's Law to the digital networks and devices that define contemporary society in the first world. The shift of emphasis from speed to growth as a time-based event with breaking points and moments of rupture has generated new possibilities. "Growth is nonlinear and unpredictable ... Few of us are ready to admit that growth is constantly shadowed by its constitutive opposite, that is equal partners with death” (Mau 497).If speed in part represents a flight from death (Virilio), growth invokes its biological necessity. In his classic study of the persistence of the pastoral imagination in technological America, The Machine in the Garden, Leo Marx charted the urge to idealize rural environments at the advent of an urban industrialised America. The very idea of "the flight from the city" can be understood as a response to the onslaught of technological society and it's deathly shadow. Against the murderous capacity of technological society stood the pastoral ideal, "incorporated in a powerful metaphor of contradiction — a way of ordering meaning and value that clarifies our situation today" (Marx 4). 5. Windows at 35,000 FeetIf waiting and stillness are active forms of bodily engagement, we need to consider the different layers of motion and anticipation embedded in the apprehension of these luminous black-box windows. In The Virtual Window, Anne Friedberg notes that the Old Norse derivation of the word window “emphasizes the etymological root of the eye, open to the wind. The window aperture provides ventilation for the eye” (103).The virtual windows we are considering here evoke notions of view and shelter, open air and sealed protection, both separation from and connection to the outside. These windows to nowhere allow two distinct visual/spatial dimensions to interface, immediately making the visual field more complex and fragmented. Always simultaneously operating on at least two distinct fields, windows-within-windows provide a specialized mode of spatial and temporal navigation. As Gyorgy Kepes suggested in the 1940s, the transparency of windows "implies more than an optical characteristic; it implies a broader spatial order. Transparency means a simultaneous perception of different spatial locations" (Kepes 77).The first windows in the world were openings in walls, without glass and designed to allow air and light to fill the architectural structure. Shutters were fitted to control air flow, moderate light and to enclose the space completely. It was not until the emergence of glass technologies (especially in Holland, home of plate glass for the display of commercial products) that shielding and protection also allowed for unhindered views (by way of transparent glass). This gives rise to the thesis that windows are part of a longstanding architectural/technological system that moderates the dual functions of transparency and separation. With windows, multi-dimensional planes and temporalities can exist in the same time and space — hence a singular point of experience is layered with many other dimensions. Transparency and luminosity "ceases to be that which is perfectly clear and becomes instead that which is clearly ambiguous" (Rowe and Slutsky 45). The light box air-portals necessitate a constant fluctuation and remediation that is at once multi-planar, transparent and "hard to read". They are informatic.From holes in the wall to power lunch at 35,000 feet, windows shape the manner in which light, information, sights, smells, temperature and so on are modulated in society. "By allowing the outside in and the inside out, [they] enable cosmos and construction to innocently, transparently, converge" (Fuller, "Welcome" 163). Laptop, phone, PDA and light box point to the differential mobilities within a matrix that traverses multiple modes of transparency and separation, rest and flight, stillness and speed.6. Can You Feel It?Increasingly the whole world has come to smell alike: gasoline, detergents, plumbing, and junk foods coalesce into the catholic smog of our age (Illich 47).In these forlorn corners of mobile consumption, the dynamic of circulation simultaneously slows and opens out. The surfaces of inscription implore us to see them at precisely the moment we feel unseen, unguided and off-camera. Can you see it, can you feel it, can you imagine the unimaginable, all available to us on demand? Expectation and anticipation give us something to look forward to, but we're not sure we want what's on offer.Air travel radicalizes the separation of the air traveller from ground at one instance and from the atmosphere at another. Air, light, temperature and smell are all screened out or technologically created by the terminal plant and infrastructure. The closer the traveller moves towards stillness, the greater the engagement with senses that may have been ignored by the primacy of the visual in so much of this circulatory space. Smell, hunger, tiredness, cold and hardness cannot be screened out.In this sense, the airplanes we board are terminal extensions, flying air-conditioned towers or groundscrapers jet-propelled into highways of the air. Floating above the horizon, immersed in a set of logistically ordained trajectories and pressurized bubbles, we look out the window and don't see much at all. Whatever we do see, it's probably on the screen in front of us which disconnects us from one space-time-velocity at the same time that it plugs us into another set of relations. As Koolhaas says, junkspace is "held together not by structure, but by skin, like a bubble" (Koolhaas). In these distended bubbles, the traveler momentarily occupies an uncommon transit space where stillness is privileged and velocity is minimized. The traveler's body itself is "engaged in and enacting a whole kaleidoscope of different everyday practices and forms" during the course of this less-harried navigation (Bissell 282).7. Elevator MusicsThe imaginary wheel of the kaleidoscope spins to reveal a waiting body-double occupying the projected territory of what appears to be a fashionable Miami. She's just beyond our reach, but beside her lies a portal to another dimension of the terminal's vascular system.Elevators and the networks of shafts and vents that house them, are to our buildings like veins and arteries to the body — conduits that permeate and structure the spaces of our lives while still remaining separate from the fixity of the happenings around them (Garfinkel 175). The terminal space contains a number of apparent cul-de-sacs and escape routes. Though there's no background music piped in here, another soundtrack can be heard. The Muzak corporation may douse the interior of the elevator with its own proprietary aural cologne, but at this juncture the soundscape is more "open". This functional shifting of sound from figure to ground encourages peripheral hearing, providing "an illusion of distended time", sonically separated from the continuous hum of "generators, ventilation systems and low-frequency electrical lighting" (Lanza 43).There is another dimension to this acoustic realm: “The mobile ecouteur contracts the flows of information that are supposed to keep bodies usefully and efficiently moving around ... and that turn them into functions of information flows — the speedy courier, the networking executive on a mobile phone, the scanning eyes of the consumer” (Munster 18).An elevator is a grave says an old inspector's maxim, and according to others, a mechanism to cross from one world to another. Even the quintessential near death experience with its movement down a long illuminated tunnel, Garfinkel reminds us, “is not unlike the sensation of movement we experience, or imagine, in a long swift elevator ride” (Garfinkel 191).8. States of SuspensionThe suspended figure on the screen occupies an impossible pose in an impossible space: half falling, half resting, an anti-angel for today's weary air traveller. But it's the same impossible space revealed by the airport and bundled up in the experience of flight. After all, the dimension this figures exists in — witness the amount of activity in his suspension — is almost like a black hole with the surrounding universe collapsing into it. The figure is crammed into the light box uncomfortably like passengers in the plane, and yet occupies a position that does not exist in the Cartesian universe.We return to the glossy language of advertising, its promise of the external world of places and products delivered to us by the image and the network of travel. (Remmele) Here we can go beyond Virilio's vanishing point, that radical reversibility where inside and outside coincide. Since everybody has already reached their destination, for Virilio it has become completely pointless to leave: "the inertia that undermines your corporeity also undermines the GLOBAL and the LOCAL; but also, just as much, the MOBILE and the IMMOBILE” (Virilio 123; emphasis in original).In this clinical corner of stainless steel, glass bricks and exit signs hangs an animated suspension that articulates the convergence of a multitude of differentials in one image. 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