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controlled assistance by an exoskeletal rehabilitation robot for upper limbs

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 2009年第2期30卷 166-170+177页

作者： Li, Qing-Ling Ye, Teng-Mao Du, Zhi-Jiang Sun, Li-Ning Wang, Dong-Yan State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A novel 5 DOF exoskeletal upper-limb rehabilitation robot was implemented for hemiplegia caused by a stroke. To inspire alertness during active exercise and to promote rehabilitation of an impaired arm, a control method was developed for assisted action during complex motion of upper limbs. Torque signals for each joint were acquired in real time to estimate the magnitude and the orientation of action caused by conscious movement. To follow the intention of hemiplegic patient's movement, a proportional controller was used to control terminal velocity to match motion. Experimental results show that the method presented effectively assists patients' complex arm movements in real time.

关键词： controllers

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Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft UAVs

Embedded autopilot for accurate waypoint navigation and traj...

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2009 IEEE International Conference on robotics and Automation, ICRA '09

作者： Kendoul, Farid Zhenyu, Yu Nonami, Kenzo Robotics and Control Lab. Department of Electronics and Mechanical Engineering Chiba University 263-8522 Chiba City Japan State Key Laboratory of Rail Traffic Control and Safety Beijing JiaoTong University China

ISBN: (纸本)9781424427895

In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft a lightweight/portable and inexpensive Guidance, Navigation and control system (GN&C) was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts in obtaining a reliable model-based nonlinear controller. The GN&C system was implemented on a small four rotor helicopter which has undergone an extensive program of flight tests resulting in various flight behaviors under autonomous control from takeoff to landing. Flight test results that demonstrate the operation of the GN&C algorithms on a real MAV arepresented. © 2009 IEEE.

关键词： Navigation

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Active and Passive control of an Exoskeleton with Cable Transmission for Hand Rehabilitation

Active and Passive Control of an Exoskeleton with Cable Tran...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Shuang Wang Jiting Li Yuru Zhang Ju Wang The State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is based on impedance control. The compensation controller is used for compensating the position error caused by deflection of the cable and sheath in the mechanical transmission. To realize the compensation, the spring model is used to represent the elasticity of the cable and sheath. With the proposed method, the maximum joint position error is about 1.5 degree, which satisfies the requirement in hand rehabilitation application. The experimental result demonstrates the validity of the propose method.

关键词： Exoskeletons Error correction Cable shielding Position control Actuators Force control Force feedback Virtual reality Impedance Mechanical cables

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Design of an exoskeleton for index finger rehabilitation

Design of an exoskeleton for index finger rehabilitation

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Ju Wang Jiting Li Yuru Zhang Shuang Wang State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of hand sizes. The kinematic relation between the device joint angles and the corresponding finger joint angles is simple which greatly simplifies the high level motion control. As the motor capability of patients may be different and the range of motion of the finger may change along with the rehabilitation progress, it is important to take the changes into consideration. And the preliminary experiment has shown that the proposed device is capable of accommodating to these varieties.

关键词： Exoskeletons Fingers Kinematics Couplings Electronics packaging Bidirectional control Motion control Force measurement Laboratories Virtual reality

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Combined yaw and roll control of an autonomous boat

Combined yaw and roll control of an autonomous boat

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinping Bao Kenzo Nonami Zhenyu Yu Control and Robotics Laboratory of Electronics and Mechanical Engineering Chiba University Japan Graduate School & Faculty Engineering Chiba University Japan State Key Laboratory of Rail Traffic Control and Safety Beijing China

In this paper we try to develop a host-based system and study actual sea trials via rudder based roll control method. To authors' best knowledge, the boat we investigated is the smallest among those reported in the literature. An autonomous boat model is obtained by a system identification approach. The identified system is designed with frequency-shaped sliding mode control. The control scheme is composed of a sliding mode observer and a sliding mode controller. The stability and reachability of the switching function are proved by Lyapunov theory. Computer simulations and experiment show that successful course keeping and roll reduction results are achieved.

关键词： Boats Sliding mode control Frequency Damping control systems Sea measurements Radio control Water pollution Computer simulation Mathematical model

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On Separation Principle for a Class of networked control systems

On Separation Principle for a Class of Networked Control Sys...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Dongxiao Wu Jun Wu Sheng Chen State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Electronics and Computer Science University of Southampton

In this contribution, we investigate a class of observer-based discrete-time networked control systems(NCSs)with random packet dropouts occurring independently in both the sensor-to-controller(S/C) and controller-to-actuator(C/A)*** first propose and prove a separation principle for the general class of NCSs where packet dropouts in the C/A and S/C channels are governed by two independent Markov chains, *** then derive necessary and sufficient conditions, in terms of linear matrix inequalities, for synthesis of stabilisation control of a class of NCSs where the C/A channel is driven by a Markov chain while the S/C channel is driven by a Bernoulli process.A numerical example is provided to illustrate the effectiveness of our proposed method.

关键词： NCS dropout On Separation Principle for a Class of networked control systems

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Could Feedback-Based Self-Learning Help Solve networked Prisoner's Dilemma?

Could Feedback-Based Self-Learning Help Solve Networked Pris...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Xiaojie Chen Feng Fu Long Wang State Key Laboratory for Turbulence and Complex Systems Center for Systems and ControlCollege of EngineeringPeking University Department of Zoology University of British Columbia Program for Evolutionary Dynamics Harvard University

We present a self-learning evolutionary Prisoner's Dilemma game model to study the evolution of cooperation in network-structured *** the evolutionary process,each agent updates its current strategy with a probability depending on the difference feedback between its actual score and score *** agent's score is a weighed mean of its payoff coming from its neighbors(social partners) and the payoff of its social partners obtaining from *** results show that the cooperation level in the structured populations increases with increasing the weight of partners' obtaining payoff in the *** interestingly,we find that very similar evolution of cooperation can respectively emerge in lattice,small-world and scale-free networks under the learningfeedback updating ***,we provide theoretical analysis and qualitative explanations for these numerical *** work may provide an effective way to solve the dilemma of cooperation for structured populations.

关键词： Could Feedback-Based Self-Learning Help Solve networked Prisoner's Dilemma

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Social tolerance allows cooperation to prevail in an adaptive environment

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Physical Review E 2009年第5期80卷 051104-051104页

作者： Xiaojie Chen Feng Fu Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Department of Zoology University of British Columbia Vancouver British Columbia Canada V6T 1Z4 Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

In real situations, individuals often have moderate tolerance toward ambient cooperative environment in which they tend to avoid unfavorable interactions and search for favorable ones. How such social tolerance affects the evolution of cooperation and the resulting cooperative networks remains to be answered. To address this issue, here we present an effective model of co-evolutionary prisoner’s dilemma by introducing cooperative environment and social tolerance for networked players. An individual’s level of cooperative environment characterizes the cooperativity and sustainability of its interaction environment centered on itself. In our model, for paired individuals we assume that the one in better cooperative environment has a certain tolerance threshold to the opponent. If the opponent’s cooperative environment level is beyond the tolerance threshold, the one in better cooperative environment cuts unilaterally the link, and rewires to others. Otherwise, the link is not severed, and meanwhile an inhomogeneous strategy imitation process between them is considered. Moreover, a player’s cooperative environment is adjusted in response to the strategy choices in the neighborhood. Interestingly, we find that there exists a moderate tolerance threshold warranting the best promotion of cooperation. We explain the nontrivial results by investigating the time ratio of strategy (network) updating during the whole process and properties in emerging networks. Furthermore, we investigate the effect of memory-dependent discounting of individuals’ cooperative environment on the evolution of cooperation. We also demonstrate the robustness of our results by considering two other modified co-evolutionary rules. Our results highlight the importance of appropriate tolerance threshold for the evolution of cooperation during the entangled co-evolution of strategy and structure.

关键词： Sustainable development

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Active modeling based course control of Unmanned Surface Vehicles

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ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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Locomotion modeling and simulation of the biped robot with heterogeneous legs

Locomotion modeling and simulation of the biped robot with h...

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2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Fu, Li Xu, Xinhe Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China State Key Laboratory for Intelligence Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)1424407370

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software. © 2007 IEEE.

关键词： Robotic arms

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