Under extreme conditions such as pure rotation, motion blur and poor texture, ORB-SLAM3 cannot perform pose estimation well which leads to trajectory loss inevitably. In this paper, we present a robust compensation me...
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A Brain-Computer Interface (BCI) enables individuals to control a system solely through their brain activity, without relying on physical movement. These interfaces have numerous applications, particularly in assistin...
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To solve the problem that factors such as the similar color of polyps and background in colon polyp images and the different sizes of polyps affect the segmentation accuracy, an improved SegFormer, U-SegFormer, is pro...
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The active knee-ankle prosthesis is an important auxiliary device to protect the daily life of the knee amputees. The tight human-interaction coupling makes its control face many challenges, which results in poor cont...
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ISBN:
(纸本)9798350307573;9798350307566
The active knee-ankle prosthesis is an important auxiliary device to protect the daily life of the knee amputees. The tight human-interaction coupling makes its control face many challenges, which results in poor continuity and low degree of individuation. This paper presents a personalized control method for the active knee-ankle prosthesis which can adapt to different walking speeds and users' height. According to the height and speed of the subject, the current appropriate knee and ankle joint trajectory can be planned adaptively. The specific method is to design the phase variable based on thigh angle to achieve continuous control of the whole gait cycle. And then, build the task function and basis function based on the speed, height and phase variable separately. By introducing the proportional weight coefficient, the parameters to be estimated are reduced by doubling because of the 2 influence factors (speed and height), and the calculation amount and difficulty are reduced. The convex optimization is used to fit the function of gait surface with respect to height and walking speed. The result of gait trajectory planning is taken as the reference input of impedance control to complete the compliant control of the prosthesis. The algorithm is verified by simulation experiments, which can ensure the stable and smooth walking.
With the rapid development of mobile robot technology, bipedal wheeled-leg robots, which combine the efficient mobility of wheeled robots and the adaptability of legged robots to uneven terrain, are gradually attracti...
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This article is devoted to the development of a robot arm with neural network control. This article presents the process of creating the electronic component of the device and design based on 3D printing technologies....
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The lower limb rehabilitation exoskeleton significantly enhances walking function in patients with lower limb motor dysfunction. Understanding the human-machine interaction force is crucial for studying the control me...
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This paper aims at the supply chain inventory management system with information sharing delay, and the design problem of distributed model predictive controller under communication fault is studied. Firstly, the inve...
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In low-voltage AC-DC hybrid microgrid, power fluctuation is caused by load switching. In order to ensure the stable operation of microgrid, a control strategy for interconnecting converters in low-voltage microgrid is...
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The sit-and-reach exercise has consistently garnered popularity among adolescents. Not only does it play a pivotal role as a crucial element in stretching training, but it also contributes to enhancing the overall fle...
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ISBN:
(纸本)9798350366105;9798350366099
The sit-and-reach exercise has consistently garnered popularity among adolescents. Not only does it play a pivotal role as a crucial element in stretching training, but it also contributes to enhancing the overall flexibility of the adolescent body. However, training processes often encounter challenges such as safety concerns and increased human time costs. Current auxiliary stretching training robots primarily target specific joints, such as the ankle and finger joints, leaving a gap for a comprehensive training device dedicated to sit-and-reach movements. This study introduces the design of a sit-and-reach and stretching trainer, incorporating magneto-rheological damper to address safety concerns. The device offers two distinct training methods to provide a solution to the aforementioned challenges. Then the control method of magneto-rheological damper is studied. Through a comparative analysis with the traditional PID control method, the study adopts a fuzzy PID control strategy for the device's various training modes. In conclusion, comparative verification experiments demonstrate the superiority of the fuzzy PID control strategy in both overshoot and steady-state error control.
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