In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corre...
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ISBN:
(纸本)9781424420575
In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corresponding to each finger of human hand, the CPM machine has 4 degrees of freedom (DOF) driven by two DC motors. The joint force and position sensors are all integrated into the machine. The device can be easily attached and also be adjusted to fit different hand sizes. During the injured fingerpsilas flexion and extension motion the machine can always exert perpendicular forces on the finger phalanges, meanwhile it can achieve the precise control of scope, force and speed of the moving fingers. In order to control the CPM machine, we have also designed an embedded control system based on S3C2410 (a kind of 32-bit RISC microprocessor). The whole system is open-ended for new functions and applications. The function modularization method provides a new thinking of design for the control system.
The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the c...
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The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the commonly used FLC to research on this problem. Firstly, the application of FNN based on the kinematics models of mobile robot is described in detail, moreover, it uses an improved back propagation (BP) algorithm to complete the network learning and training. Secondly, it utilizes FLC to fulfill the real-time avoiding obstacles. The simulation results show that the proposed cooperative system is effective and robust, meanwhile possesses better abilities of path tracking and real-time avoiding obstacles in unknown dynamic environment.
A new method which can segment gesture from general and complex backgrounds is introduced. First, this method deals the gesture picture which is get in the general background by convolute filter, and verifies clusteri...
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A new method which can segment gesture from general and complex backgrounds is introduced. First, this method deals the gesture picture which is get in the general background by convolute filter, and verifies clustering character of complexion, then by the complexion and geometry characters of the gestures, this method segments gestures from the backgrounds successfully. At last, by experiments of different backgrounds and eight different gestures, the validity of the method is verified, static state identify rate is 99%.
By integrating mean shift and particle filter, a new method for robotics visual tracking is proposed based on similarity distance. The method mainly depends on particle filter, and the particle number is proportional ...
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By integrating mean shift and particle filter, a new method for robotics visual tracking is proposed based on similarity distance. The method mainly depends on particle filter, and the particle number is proportional to the similarity distance. When the particle number exceeds the threshold, a small number of particles integrated with mean shift replace the traditional particle filter. After the tracking algorithm of each frame is finished, the similarity distance between the target and the model is calculated, which will adjust the number of the particles and determine whether the mean shift algorithm is called for the next frame. Moreover, the correlation coefficient between the particle number and the similarity distance is set through experiments. A frame tracking consumes about 5-10 ms. The experiment shows that our method can achieve accurate and real time tracking.
Focusing on issues of map-distortion caused by accumulated error in mapping with only odometer and sonar sensors, new infrared location lags as absolute landmarks are introduced and build a topological map. Then a gri...
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Focusing on issues of map-distortion caused by accumulated error in mapping with only odometer and sonar sensors, new infrared location lags as absolute landmarks are introduced and build a topological map. Then a grid map is also built in the topological map and landmark information updates related incremental map on Bayesian theory. As result, the hybrid map reduces the accumulated error of sensors and improves the stability of the built map. Moreover, improved particle filter is used for robot localization, which based on the high weight adaptive algorithm can solve particle degradation of the traditional particle filters, because high weight particles and the surrounding space describe robot pose with high probability. Finally, results of experiments show that the map is effectively build based on grid map guided by absolute landmarks in 250 cm × 500 cm area, and improved particle filter can finish self-localization, error of which is less than 2 cm. Besides, localization test proves that improved particle is effective to solve degradation of particles.
For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technol...
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For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technology is compatible with the other micromachining technology. This sensor can be integrated with other devices easily and fabricated with ion implantation technology combined with deep reactive ion etching technology. This design doubles the sensitivity compared with the conventional design because it puts the piezoresistor on the surface of the vertical sidewall of the detection beam. Besides using vertical sidewall piezoresistor technology, this displacement sensor has been applied to a micro xy-stage to detect the stage motion successfully. The experimental results verify that the sensitivity of the fabricated displacement sensors is better than 0.903 mV/μm, the linearity is better than 0.814%, and the displacement resolution is better than 12.3 nm.
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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Associate Editor in Chief Marc Donner examines the Witty Worm and what its existence might mean for the future of the software development infrastructure.
Associate Editor in Chief Marc Donner examines the Witty Worm and what its existence might mean for the future of the software development infrastructure.
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