This paper proposes a new hybrid (parallel–serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mec...
This paper proposes a new hybrid (parallel–serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future.
This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients....
This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.
Hot granule medium pressure forming （HGMF） process is a new process in which granule medium replaces the medium in existing flexible-die hot forming process, such as liquids, gases or viscous medium. Hot forming of ...
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Hot granule medium pressure forming （HGMF） process is a new process in which granule medium replaces the medium in existing flexible-die hot forming process, such as liquids, gases or viscous medium. Hot forming of light alloy sheet parts can be realized based on the properties of granule medium, such as withstanding high temperature and pressure, filling well, sealing and loading easily. In this work, the forming of AA7075 cylindrical parts by HGMF process is taken as an example to establish the constitutive relation and forming limit diagram （FLD） of AA7075 sheet which is related to temperature by hot uniaxial tensile test of sheet metal. Based on the assumption that granule medium is applied to extended Drucker-Prager linear material model, the finite element model of HGMF process is established and the effect of technological parameters, such as forming temperature, blank-holder gap and drawing ratio, on the sheet metal formability, is studied. The limit drawing ratio curve of AA7075 cylindrical parts at forming temperature of 175-300 ℃ is obtained by HGMF process test, and the limit drawing ratio reaches the maximum value of 1.71 at 250 ℃. The results of numerical simulation are consistent with the results of process test, and the forming force, distribution of wall thichness and form of instability are predicted correctly, which provides reference for the application of HGMF process.
The SPMT construction method is a new rapid construction technology of large urban overpass with unblocked traffic,and unstability of SPMT construction method equipment cannot be accurately described due to the concre...
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The SPMT construction method is a new rapid construction technology of large urban overpass with unblocked traffic,and unstability of SPMT construction method equipment cannot be accurately described due to the concrete beam size,irregular shape and complex transport conditions,which is called kiloton bridge transporting and laying *** anti-rollover performance of SPMT suspension system is studied,and vehicle side slip angle and load transfer rate(LTR) are regarded as the evaluation *** active suspension adaptive anti-rollover control model of SPMT,in which roll stability affected by the structural parameters and control parameters,is built based on fuzzy PID,and the effectiveness of the control method is verified through real vehicle test.
Hydraulic pumps belong to reliable long-life hydraulic components. The reliability evaluation includes characters such as long test period,high cost,and high power loss and so on. Based on the principle of energy-savi...
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Hydraulic pumps belong to reliable long-life hydraulic components. The reliability evaluation includes characters such as long test period,high cost,and high power loss and so on. Based on the principle of energy-saving and power recovery,a small sample hydraulic pump reliability test rig is built,and the service life of hydraulic pump is predicted,and then the sampling period of reliability test is optimized. On the basis of considering the performance degradation mechanism of hydraulic pump,the feature information of degradation distribution of hydraulic pump volumetric efficiency during the test is collected,so an optimal degradation path model of feature information is selected from the aspect of fitting accuracy,and pseudo life data are obtained. Then a small sample reliability test of period constrained optimization search strategy for hydraulic pump is constructed to solve the optimization problem of the test sampling period and tightening end threshold,and it is verified that the accuracy of the minimum sampling period by the non-parametric hypothes is tested. Simulation result shows it could possess instructional significance and referenced value for hydraulic pump reliability life evaluation and the test's research and design.
Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound co...
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Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.
The cooling performance makes a full impact on the operation stability of the microcomputer *** to now,no effort is found toward on the experimental research of cooling performance of the micro
The cooling performance makes a full impact on the operation stability of the microcomputer *** to now,no effort is found toward on the experimental research of cooling performance of the micro
The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic *** is therefore easy to implement trajectory planning,parameter calibration,and ...
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The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic *** is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application ***,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two ***,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically ***,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two *** different distributions of the constraint forces in each branch are also *** the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are *** the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.
Due to the fuzziness and incompleteness of hydraulic pump single fault signal,sometimes we cannot accurately assess the working state of hydraulic *** extracting the characteristic vector
Due to the fuzziness and incompleteness of hydraulic pump single fault signal,sometimes we cannot accurately assess the working state of hydraulic *** extracting the characteristic vector
In this study, a hybrid algorithm combining genetic algorithm （GA） with back propagation （BP） neural network （GA-BP） was proposed for extracting the characteristics of multi-peak Brillouin scattering spectrum. S...
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In this study, a hybrid algorithm combining genetic algorithm （GA） with back propagation （BP） neural network （GA-BP） was proposed for extracting the characteristics of multi-peak Brillouin scattering spectrum. Simulations and experimental results show that the GA-BP hybrid algorithm can accurately identify the position and amount of peaks in multi-peak Brillouin scattering spectrum. Moreover, the proposed algorithm obtains a fitting degree of 0.9923 and a mean square error of 0.0094. Therefore, the GA-BP hybrid algorithm possesses a good fitting precision and is suitable for extracting the characteristics of multi-peak Brillouin scattering spectrum.
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