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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： E. H.F. Van Asseldonk R. Ekkelenkamp Jan F. Veneman F. C. T. Van der Helm H. van der Kooij Department of Biomechanical Engineering Institute for Biomedical Technology (BMTI) Enschede Netherlands Man-Machine Systems & Control group Biomedical Engineering Group Delft University of Technnology Delft Netherlands

Robotic gait trainers are used all over the world for the rehabilitation of stroke patients, despite relatively little is known about how the robots should be controlled to achieve the optimal improvement. Most devices control complete joint trajectories and assume symmetry between both legs by either a position or an impedance control. However we believe that the control should not be on a joint level but on a subtask level (i.e. foot clearance, balance control). To this end we have chosen for virtual model control(VMC) to define a set of controllers that can assist in each of these tasks. Thus enabling the exoskeleton to offer selective support and evaluation of each substask during rehabilitation training. The aim of this explorative pilot study was to assess the performance of a VMC of the step height and to assess if selective control of the step height left the remaining of the walking pattern unaffected. Four young healthy subjects walked on a treadmill with their legs and pelvis attached to the lopes exoskeleton in 3 different conditions: (1) providing minimal resistance, (2) control of the left step height with a low stiffness (3) control of the step height with a large stiffness. We have shown that it is possible to exert a vertical forces for the support of foot clearance during the swing phase. The higher stiffness of the VMC resulted in a greater change of the step height, which was achieved by a larger increase of the maximal hip and knee flexion compared to the low stiffness condition. The control of the step height resulted in minor changes in the cycle time and swing time. The joint angles also showed only minor changes. The preliminary results suggest that we were able to control a subtask of walking, while leaving the remaining walking trajectory largely unaffected. In the near future, control of other subtask will be implemented and evaluated in isolation and in conjunction with each other.

关键词： Legged locomotion Rehabilitation robotics Leg Foot Exoskeletons Optimal control Robot control Impedance Pelvis Hip

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Identification and hybrid impedance control of human skin muscle by multi-fingered robot hand

Identification and hybrid impedance control of human skin mu...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Keisuke Mouri Kazuhiko Terashima Panya Minyong Hideo Kitagawa Takanori Miyoshi Production Systems Engineering Toyohashi University of Technology Toyohashi Aichi Japan Department of Mechatronics Engineering Pathumwan Institute of Technology Bangkok Thailand Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan

This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance control, which is able to create the movement and the force of robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised of the two methods of the position-based and the force-based impedance control were applied. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also gives the identification of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using impedance control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. Effectiveness of massage control system by using multi- fingered robot hand with hybrid impedance control is demonstrator through actual massage experiments of pushing and rubbing motion.

关键词： Impedance Humans Skin Muscles Force control control systems Intelligent robots Motion control Hybrid intelligent systems Intelligent control

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Hybrid impedance and force control for massage system by using humanoid multi-fingered robot hand

Hybrid impedance and force control for massage system by usi...

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IEEE International Conference on systems, Man and Cybernetics

作者： Panya Minyong Keisuke Mouri Hideo Kitagawa Takanori Miyoshi Kazuhiko Terashima Department of Mechatronics Engineering Pathumwan Institute of Technology Pathumwan Thailand Production Systems Engineering Toyohashi University of Technology Toyohashi Aichi Japan Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan

This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance and force control, which is able to create the movement and force of robot to behave as similar as the human's massage. Therefore, the various massage points, such as the changing of hardness and softness of human skin muscle condition, can be appropriately controlled by using hybrid impedance and force control method. The impedance control is used to control the lateral position of massage on the human skin muscle. The perpendicular direction one, while force control is carried out for the vertical direction on human skin muscle. This paper also gives a modeling of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using a hybrid impedance and force control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. For the robot fingertip force, PI servo compensation is used together with impedance control. Based on using both impedance and PI servo compensation, the effectiveness of the massage position and force control is shown through actual massage motion experiments.

关键词： Impedance Force control Humanoid robots Humans Skin Muscles Intelligent robots control systems Servomechanisms Hybrid intelligent systems

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Sensor Property of a Novel EAP Device with Ionic-liquid-based Bucky Gel

Sensor Property of a Novel EAP Device with Ionic-liquid-base...

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IEEE SENSORS

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Research Institute of Cell Engineering AIST Osaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. Some of the EAP materials can be used as a sensor as well as an actuator. If sensor function and actuator function exist in a same device, both function can be integrated with keeping the advantages of functional polymeric material. Miniature actuator-sensor systems and feedback control systems can be constructed; therefore, possibility of application can be expanded. In this paper, we verify the sensor device property of bucky gel devices. Based on the experiment, the relationship between an output signal and a deformation is investigated, and an estimation method of a deformation is demonstrated.

关键词： Actuators Carbon nanotubes Liquids Polymer gels Electrodes Sensor systems and applications Mechanical factors Design engineering Feedback control Conducting materials

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Experimental verifications on control and sensing of bucky gel actuator/sensor

Experimental verifications on control and sensing of bucky g...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-mimetic Control Research Center (BMC) The Institute of Physical and Chemical Research (RIKEN) Nagoya Japan Department of Robots and Mechatronics School of Future Science Tokyo Denki University Tokyo Japan BMC RIKEN Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Tokyo Japan BMC RIKEN Research Institute for Cell Engineering National Institute of Advanced Industrial Science and Technology (AIST) Odaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Since sensor and actuator functions exist in a same device, flexible and miniature integrated actuator-sensor systems for soft robotics can be constructed easily. In this study, we conduct some experiments to verify the possibility of the bucky gel actuator/sensor. Feedback controls of the actuator are demonstrated and the characteristics of the sensor are investigated. By utilizing both functions of the actuator and the sensor, feedback control based on the sensor signal is demonstrated.

关键词： Actuators Sensor phenomena and characterization Polymer gels Feedback control Electrodes Casting Shape Force sensors Sensor systems Robot sensing systems

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Workshop on imaging science development for cancer prevention and preemption

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Cancer Biomarkers 2007年第1期3卷 1-33页

作者： Kelloff, Gary J. Sullivan, Daniel C. Baker, Houston Clarke, Lawrence P. Nordstrom, Robert Tatum, James L. Dorfman, Gary S. Jacobs, Paula Berg, Christine D. Pomper, Martin G. Birrer, Michael J. Tempero, Margaret Higley, Howard R. Petty, Brenda Gumbs Sigman, Caroline C. Maley, Carlo Sharma, Prateek Wax, Adam Ginsberg, Gregory G. Dannenberg, Andrew J. Hawk, Ernest T. Messing, Edward M. Grossman, H. Barton Harisinghani, Mukesh Bigio, Irving J. Griebel, Donna Henson, Donald E. Fabian, Carol J. Ferrara, Katherine Fantini, Sergio Schnall, Mitchell D. Zujewski, Jo Anne Hayes, Wendy Klein, Eric A. DeMarzo, Angelo Ocak, Iclal Ketterling, Jeffrey A. Tempany, Clare Shtern, Faina Parnes, Howard L. Gomez, Jorge Srivastava, Sudhir Szabo, Eva Lam, Stephen Seibel, Eric J. Massion, Pierre McLennan, Geoffrey Cleary, Kevin Suh, Robert Burt, Randall W. Pfeiffer, Ruth M. Hoffman, John M. Roy, Hemant K. Wang, Thomas Limburg, Paul J. El-Deiry, Wafik S. Papadimitrakopoulou, Vali Hittelman, Walter N. MacAulay, Calum Veltri, Robert W. Solomonzz, Diane Jeronimo, Jose Richards-Kortum, Rebecca Johnson, Karen A. Viner, Jaye L. Stratton, Steven P. Rajadhyaksha, Milind Dhawan, Atam NIH/NCI/DCTD Cancer Imaging Program Bethesda MD United States NIH/NCI/DCTD Cancer Imaging Program NCI-Frederick Frederick MD United States NIH/NCI/DCP Early Detection Research Group Bethesda MD United States The Johns Hopkins University School of Medicine Departments of Radiology Pharmacology and Oncology Division of Neuroradiology Baltimore MD United States NIH/NCI/CCR Cell and Cancer Biology Branch Bethesda MD United States University of California San Francisco Department of Medicine Division of Medical Oncology San Francisco CA United States CCS Associates Inc. Mountain View CA United States Wistar Institute Molecular and Cellular Oncogenesis Program Philadelphia PA United States University of Kansas School of Medicine VA Hospital Kansas City MO United States Duke University Department of Biomedical Engineering Medical Physics Program Durham NC United States University of Pennsylvania School of Medicine Department of Gastroenterology Philadelphia PA United States New York Presbyterian Hospital Weill Medical College of Cornell University New York NY United States NIH/NCI/OD Office of Centers for Training and Resources Bethesda MD United States University of Rochester Medical Center Department of Urology Rochester NY United States University of Texas MD Anderson Cancer Center Department of Urology Houston TX United States Massachusetts General Hospital Abdominal Imaging/Interventional Radiology Boston MA United States Boston University Biomedical Engineering Electrical and Computer Engineering and Physics Boston MA United States NIH/NCI/DCP Gastrointestinal and Other Cancers Research Group Bethesda MD United States The George Washington University Cancer Institute Office of Cancer Prevention and Control Washington DC United States University of Kansas Cancer Center Clinical Oncology Kansas City KS United States University of California Davis Department of Biomedical Engineering Davis CA United States Tufts University De

The article provides information on a workshop on the development of imaging systems for cancer prevention and preemption convened by the U.S. National Cancer Institute (NCI) Cancer Imaging Program held in Gaithersburg, Maryland. Doctor Katherine Ferrara of the University of California discussed the function of ultrasound in breast tumor imaging. Ways to close the gap between development and application of imaging approaches were tackled in a roundtable discussion on cervix and skin cancer.

关键词： FORUMS (Discussion & debate) IMAGING systems in medicine CANCER prevention

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A novel technique for frequency and time optimization of automotive engine mount parameters

A novel technique for frequency and time optimization of aut...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Arzanpour, S. Eslaminasab, N. Schubert, B. Narimani, A. Golnaraghi, M.F. Control and Mechatronics Group Department of Mechanical Engineering University of Waterloo Canada Polymer Technologies Inc. Cambridge United States L3 Communications Toronto United States Mechatronic and Smart Material Systems Department of Mechanical Engineering University of Waterloo Canada

ISBN: (纸本)0791837904

In this paper, we examine a linear one degree of freedom engine mount to obtain optimum mount parameters in a passive configuration. An engine mount is a device that may be used to isolate vehicle body from the engine vibrations -forced excitation, while minimizing the effects of road-induced disturbances on the engine - base excitation. The linearity of the system allows us to analyze the frequency and time response characteristics in both excitation cases analytically. Optimal damping and stiffness values for the isolator are obtained by minimizing certain cost functions in the frequency and time domains, respectively. In the frequency domain the cost function is based on the root mean square (RMS) of the absolute acceleration and relative displacement in the frequency domain, and in the time domain it is based on the transmitted acceleration and displacement. The time and frequency responses of the isolator are optimized by varying the stiffness and damping ratios for both base and forced excitation cases. These optimal values are obtained, and the results are verified numerically. In this case, although the mathematical model is linear, it is interesting to note that the time and frequency optimal values are not the same. As a result, this exercise shows that no passive-mount is adequate to perfectly deal with all application specs and isolation criteria. In this paper, a novel approach is suggested to select the mount parameters for various passive or active configurations. Copyright © 2006 by ASME.

关键词： Automobile engines

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An introduction to a matlab-based FDI-toolbox

An introduction to a matlab-based FDI-toolbox

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作者： Ding, S.X. Atlas, E. Schneider, S. Ma, Y. Jeinsch, T. Ding, E.L. Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH 38518 Gifhorn France

ISBN: (纸本)9783902661142

In this paper, an FDI-Toolbox developed in the Matlab© programming enviroment is introduced. It includes a number of functions for the design of observer-based and parity space FDI systems including both residual generation and evaluation. The application of the toolbox is illustrated by a number of examples. Copyright © 2006 IFAC.

关键词： Fault detection

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AN INTRODUCTION TO A MATLAB-BASED FDI-TOOLBOX

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IFAC Proceedings Volumes 2006年第13期39卷 651-656页

作者： S.X. Ding E. Atlas S. Schneider Y. Ma T. Jeinsch E.L. Ding Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH 38518 Gifhorn

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