robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton protot...
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ISBN:
(纸本)9781424428823
robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design andcontrol concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control as a "robot-in-charge" control strategy is evaluated both in simulation and in experiments on a test setup. Compared to PID control, test results indicate good tracking performance and in particular safe system behavior.
Applying a speed control system to a mobile robot needs to be done to make the robot move stably in an uneven environment with the variation of load. This study purpose is to designed a speed control system for a mobi...
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Applying a speed control system to a mobile robot needs to be done to make the robot move stably in an uneven environment with the variation of load. This study purpose is to designed a speed control system for a mobile robot to follow setpoints with a fast response to reach a predetermined speed. The speed controller used the fuzzy logic control method. The input is a speed error and the change in speed error is known from an encoder sensor and the output of the system is pulse width modulation (PWM) in the range of 8-bit converted to fuzzy forms. The rule formation and rule analysis with its implication function use the MIN function and defuzzification use the weighted average method. By implementing this fuzzy control the results of the robot move at the speed corresponding to the setpoint both on flat or uneven terrain, with load or without load. In experiments carried out on robots with a setpoint of 9,000 rpm from rest, the response time (in rise-time) is less than 47ms and steady-state error close to zero.
The objective of this project is to develop a Quadrupedal (four legs) robot with speech recognition to control the movement. There are only three words of command to be recognized, which are "forward", "...
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The Remote Handling(RH) system is the key component in tokamak fusion facility for the remote maintenance. In order to improve the safety and reliability of the RH system, a RH Multifunctional Inspect
ISBN:
(纸本)9781467389808
The Remote Handling(RH) system is the key component in tokamak fusion facility for the remote maintenance. In order to improve the safety and reliability of the RH system, a RH Multifunctional Inspect
Many problems of wall climbing robot on adaptive control for complex wall situation need to be solved. In this paper, based on the analysis of traditional intelligent control methods and comparison of principle of ada...
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Current defense applications are changing day by day and in future, no soldiers will go to battle field without using advance technology. The soldiers are able to know the position and movement of enemy in the battle ...
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The proceedings contain 53 papers. The topics discussed include: a fusion detection algorithm of motional ship in bridge collision avoidance system;a review of lane perception and automobile control based on computer ...
ISBN:
(纸本)9781538626283
The proceedings contain 53 papers. The topics discussed include: a fusion detection algorithm of motional ship in bridge collision avoidance system;a review of lane perception and automobile control based on computer vision;autonomous road-traveling and monitoring robot;kinematic analysis of tokamak in-vessel orbiting robot;dynamic analysis of varied gears meshing coupled vibration models of marine power rear drive system;development of the maintenance robot with electrification used in substation;a sensor cleaning system integrated with rotary washing and ultrasonic cleaning;the motion control system based on arm and multi-sensor information fusion technology;robotcontrol system for live maintenance of substation equipment;and dynamic management and application of spatial data for dam group safety monitoring based on GIS.
This paper presents a control strategy to move its body to the ball position before kick the ball for the humanoid robot soccer called Barelang-FC. This strategy was dedicated for the striker of Barelang-FC. The contr...
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Nature snakes move efficiently and transit gait flexibly in complex environment, that is enlightening to the research of snake-like robots. In order to improve flexibility and adaptability of snake-like robots, we des...
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ISBN:
(纸本)9781538692608
Nature snakes move efficiently and transit gait flexibly in complex environment, that is enlightening to the research of snake-like robots. In order to improve flexibility and adaptability of snake-like robots, we design a neural oscillator network connected by two chains of Hopf oscillators to generate serpenoid curves of different locomotion. To avoid stiff transition of control signals, a smooth transition approach is combined with the neural oscillator network. The proposed control method is capable of generating lateral undulation, rectilinear motion, sinus-lifting and sidewinding locomotion for snake-like robots and switching among these locomotion smoothly by adjusting several parameters of the neural oscillator network. Results of simulations and experiments demonstrate the effectiveness of the proposed neural oscillator network.
Vertebral pedicle screw placement is an important part of spine surgery, surgreons hand screw placement turnover rate was higher. With the development of surgical robot and the robot navigation technology, robot surge...
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ISBN:
(纸本)9781467398725
Vertebral pedicle screw placement is an important part of spine surgery, surgreons hand screw placement turnover rate was higher. With the development of surgical robot and the robot navigation technology, robot surgery applied in surgery became reality. Currently, the main purpose of surgical robot is assisting the doctor to establish trajectory of pedicle screw. These could not exert the high performance of robot on precision and speedy. Compared to conventional industrial robots, the complexity and uncertainty in the surgical environment and security needs of surgery will restrict the robot to complete the operation automatically. This paper establishes velocity field in operative space, completed the simulation and experimental of surgical robot automatic inserting pedicle screw. The simulation results show the velocity field of the control algorithm advantages of minimally invasive spine surgery procedure that can guarantee the integrity of the contour under disturbance conditions and to avoid damage to the nerve root.
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