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 meth...
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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.
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 adv...
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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 ...
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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.
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 ...
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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.
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 th...
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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.
In this contribution, we investigate a class of observer-based discrete-time networkedcontrolsystems(NCSs)with random packet dropouts occurring independently in both the sensor-to-controller(S/C) and controller-to-a...
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In this contribution, we investigate a class of observer-based discrete-time networkedcontrolsystems(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.
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 probabi...
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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.
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 affect...
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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.
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 s...
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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-axe...
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