Exoskeletons are increasingly gaining attention due to their role in medical rehabilitation and restoring mobility in individuals with movement impairments. However, traditional exoskeleton designs face limitations du...
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ISBN:
(数字)9798331531836
ISBN:
(纸本)9798331531843
Exoskeletons are increasingly gaining attention due to their role in medical rehabilitation and restoring mobility in individuals with movement impairments. However, traditional exoskeleton designs face limitations due to the use of a rigid structure and reliance on complex control algorithms. this work proposes integrating exoskeletons with a wheeled base to enhance mobility, alongside developing an optimal control strategy using a Linear Quadratic Regulator (LQR) combined with a Kalman filter to stabilize the system's vertical equilibrium. the dynamic model of the system is derived using Euler-Lagrange equations, yielding nonlinear differential equations that are linearized and written in state-space form. A control strategy based on minimizing a quadratic cost function is implemented to optimize energy efficiency. To address disturbances from sensor noise, the Kalman filter is employed to improve algorithmic robustness. Simulation results demonstrate the transient response of the exoskeleton's joint angles to initial conditions under feedback control and noise filtering. the controller successfully tracks predefined trajectories while maintaining equilibrium, validating the algorithm's ability to stabilize the system. Additionally, the proposed model's energyefficient performance highlights its potential for advancing the design of wheeled exoskeletons in medical and assistive applications.
this article presents mathematical modeling of the motion geometry and kinematics of a mobile platform with a rocker-bogie suspension during its spatial movement on an uneven surface. the aim of the work is to constru...
详细信息
ISBN:
(数字)9798331531836
ISBN:
(纸本)9798331531843
this article presents mathematical modeling of the motion geometry and kinematics of a mobile platform with a rocker-bogie suspension during its spatial movement on an uneven surface. the aim of the work is to construct equations linking the generalized coordinates and velocities of the system during continuous motion of the robot on the support surface, taking into account the non-slip of the contact points. In particular cases of robot motion on horizontal and inclined planes, solutions of the equations of motion geometry relative to the generalized coordinates of the system are obtained. In the particular case of flat motion of the robot platform along a horizontal plane, a solution of the inverse kinematics equations is found. the results of the work can be used in developing robot motion control systems and planning optimal motion trajectories.
Taking manta ray as bionic object, a kind of bionic robot fish was designed, which was propelled by pectoral fin and driven by SMA (shape memory alloy) wire. Firstly, the model and driving structure were designed acco...
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A kind of bionic flexible hand was designed, and a pneumatically actuated finger bending scheme was proposed. It can imitate the human hand to complete a variety of complex work, e.g., grabbing fragile or irregular ob...
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this study considers automatic scallop harvesting using the drone withthe robot arm as the new scallop fishery. the fishery needs the dedicated gripper attaching the robot arm. this study judges the adsorption grippe...
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Withthe enrichment of robot applications, higher requirements are put forward for the performance of robots. the ability of robots to interact withthe environment is becoming more and more important, such as grindin...
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