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A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

Procedia Computer Science 2014年 42卷 293-300页

作者： K.X. Khor H.A. Rahman S.K. Fu L.S. Sim C.F. Yeong E.L.M. Su Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of severe disability worldwide, with up to 15 million of people suffer stroke every year. Survivors of stroke can recover their physical strength, provided they undergo proper rehabilitation. However, most of the rehabilitation centres provide only basic tools as they can rarely afford the expensive and advanced rehabilitation devices. Besides that, training with therapists is limited to few hours per week due to the large number of patients and the stroke patients are generally sent home once they are mobile, although their upper limbs functions are not recovered. Stroke patients need to continue training after stroke to avoid muscle contraction, but due to large number of patients, they are not able to train frequently in the hospital. Therefore, the goal of this project is to develop a low-cost, simple yet compact rehabilitation robot for stroke patient to train both upper and lower limbs reaching movement. Compact Rehabilitation Robot (CR2) is expected to help the stroke patients training reaching movement in an enhanced virtual reality environment with haptic feedback and to provide the stroke patients with a faster track towards recovery.

关键词： Rehabilitation robot stroke propotional control biomechanics

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Discrete State Estimation for Switched LPV Systems using Parameter Identification

Discrete State Estimation for Switched LPV Systems using Par...

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American control Conference

作者： H. Ríos D. Mincarelli D. Efimov W. Perruquetti J. Davila National Autonomous University of Mexico Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P 04510 Mexico D.F. Non-A project at INRIA - LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France. National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P.07340 Mexico D.F.

ISBN: (纸本)9781479932757

In this paper the problem of discrete state estimation for a class of switched LPV systems is addressed. Identification techniques are applied to realize an approximate identification of the switched LPV system parameters with certain uncertainties, disturbances and/or noise. The discrete state estimation is realized by means of the parameter identification. The efficiency of the proposed method is illustrated by simulations.

关键词： Discrete State Estimation Switched LPV Systems using Parameter Identification State estimation Parameter identification discrete element

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Linearized Mathematical Model of Intelligent Pneumatic Actuator System: Position, Force and Viscosity controls

Linearized Mathematical Model of Intelligent Pneumatic Actua...

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Asian control Conference

作者： Ahmad 'Athif Mohd Faudzi Teh Chuan Enn Khairuddin Osman Zool Hilmi Ismail Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor

ISBN: (纸本)9781467357661

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.

关键词： Intelligent Pneumatic Actuator (IPA) Cylinder Linearization PI ANFIS

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Study of potential ban method for mobile robot navigation in dynamic environment

Study of potential ban method for mobile robot navigation in...

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Power Electronic and Drive Systems and Technologies Conference (PEDSTC)

作者： Farnaz Adib Yaghmaie Amir Mobarhani Hamid D. Taghirad Advanced Robotics and Automated Systems ( ARAS) Industrial Control Center of Excellence (ICCE). Faculty of Electrical andComputer Engineering K.N. Toosi University of Technology Iran

In this paper, a new method for navigation in dynamic environment is suggested. In this method named Potential Ban (PB), it is assumed that the robot performs SLAM and autonomous navigation in dynamic environment. The robot uses PB algorithm for dynamic obstacle avoidance and its navigation trough static and dynamic objects is done without any predefined information about them. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. Any time that possibility of a collision is detected, virtual certainties are spread trough grid map and are used for robot navigation. Several simulation and experimental tests are performed to examine the performance of PB. The results show this algorithm has great performance in term of dynamic obstacle avoidance and can be uses as a practical method for autonomous navigation.

关键词： Navigation Robots Equations Mathematical model Kalman filters Charge carrier processes

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Tracking performance and disturbance rejection of pneumatic actuator system

Tracking performance and disturbance rejection of pneumatic ...

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Asian control Conference

作者： Sy Najib Sy Salim Z. H. Ismail M. F. Rahmat A. A. M. Faudzi N. H. Sunar Sharatul Izah Samsudin Department of Control Instrumentation and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia Centre for Artificial Intelligence & Robotics (CAIRO) Universiti Teknologi Malaysia Kuala Lumpur Malaysia Department of Industrial Electronics Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Malaysia

This paper investigates several control strategies that potential to perform well in regulating and tracking set point of pneumatic actuator system and able to reject disturbance. The system consists of 5-port proportional valve with the dead-band flow and double rod cylinders that exhibit significant friction. Two control strategies of PID and NPID controllers with four different configurations with and without dead-zone compensators (DZC) are simulated. Three different input signals including step, sinusoidal and random waveforms are used to evaluate the performance of the proposed techniques. The effectiveness of NPID+DZC has been successfully demonstrated and proved through simulation and experimental studies.

关键词： Friction Pneumatic actuators Valves Simulation Pneumatic systems Force

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A new method for mobile robot navigation in dynamic environment: Escaping algorithm

A new method for mobile robot navigation in dynamic environm...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： F. Adib Yaghmaie A. Mobarhani H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of ExceUence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Iran

This paper addresses a new method for navigation in dynamic environment. The proposed method is based on force field method and it is supposed that the robot performs SLAM and autonomous navigation in dynamic environment without any predefined information about dynamic obstacles. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. In the time of collision detection, a modifying force is added to repulsive and attractive forces corresponding to the static environment and leads robot to avoid collision. Moreover, a safe turning angle is defined to assure safe navigation of the robot. The performance of proposed method, named Escaping Algorithm, is verified through different simulation and experimental tests. The results show the proper performance of Escaping Algorithm in term of dynamic obstacle avoidance as a practical method for autonomous navigation.

关键词： Navigation Noise Robots

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