In this paper, a physical human-robot interaction approach is presented for the developed robotic exoskeleton using admittance control to deal with human subject's intention as well unknown inertia masses and moments in dynamics. The represented by reference trajectory when complying external force. Online estimation of stiffness employed variable impedance property exoskeleton. Admittance first based on measured force order generate tasks. Then, adaptive proposed uncertain dynamics...

In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region the operational space with unidentified intention human operator's motion as well uncertain dynamics including physical limits. The new human-cooperative strategies developed to detect subject's movement efforts in order make behavior flexible and adaptive. extracted from measurement muscular effort terms applied forces/torques can be represented derive reference trajectory his/her limb using...

This paper addresses the problem of robotic manipulators with unknown deadzone. In order to tackle uncertainty and deadzone effect, we introduce adaptive neural network (NN) control for manipulators. State-feedback is introduced first a high-gain observer then designed make proposed scheme more practical. One radial basis function NN (RBFNN) used other RBFNN also estimate dynamics robot. The verified on two-joint rigid manipulator via numerical simulations experiments.

This paper has developed a coordination control method for dual-arm exoskeleton robot based on human impedance transfer skills, where the left (master) arm extracts limb stiffness and position profiles, then transfers information to right (slave) of exoskeleton. A computationally efficient model endpoint behavior is co-contraction index defined using muscular activities dominant antagonistic muscle pair. reference command consisting profiles operator computed realized by one in real-time....

Due to the uncertain parameters and/or coupled matrices in a majority of Euler-Lagrange (EL) systems among multiple inputs and outputs, controller designs for constrained robots with unknown nonlinearities disturbances are still challenging difficult. In this paper, new adaptive motion tracking control method class EL is presented. The main feature presented that high-dimensional vector-based integral Lyapunov function combined disturbance observer nonsymmetric nonlinearity input actuators....

In this paper, an admittance control scheme is proposed for physical human-robot interaction with human subject's intention motion as well dynamic uncertainties of the robotic exoskeleton. Human represented by reference trajectory. Online estimation stiffness employed to deal variable impedance property exoskeleton manipulator. An approach firstly presented in order generate a differentiable trajectory tasks. Then stability criterion can be obtained method. The designed controller includes...

Based on the up-floating incident of basement in a high-rise residential building, finite element (FE) model destruction region is established to investigate damage mechanism. The stress states and deformations structure are obtained under complex loads including water buoyancy forces, vehicle construction loads. To assess extent damage, novel indicator defined based two levels: cracking bending moments yield moment. first-level moment, second-level moment can be determined using section...

Download This Paper Open PDF in Browser Add to My Library Share: Permalink Using these links will ensure access this page indefinitely Copy URL DOI

To provide inertia support to the power grid, grid side frontend DC/AC inverter of bidirectional electric vehicle (EV) charging facilities can use virtual synchronous generator (VSG) control in its grid-side converter. However, existing VSG cannot actually realize due limitations cascaded converters structure EV charger. This paper proposes a new infrastructure for based bi-directional facilities. The proposed instantaneously tracks inertial supporting surge by DC/DC so as stabilize DC bus...

It is important to inventory and monitor wetlands their adjacent environment. People can't go somewhere of wetlands. Satellite remote sensing has several advantages for monitoring wetland resources, especially large geographic areas no man's land This paper uses multi-temporal Landsat TM ETM+ data study the degradation The simple method classify unsupervised classification or clustering. Wetland difficult because spectral confusion with other landcover classes among different types However,...

This paper describes a novel development of lower limber exoskeleton for physical assistance. The developed is motorized leg device having total 6 DOFs with hip, knee and ankle actuated in the sagittal plane. applies forces learns impedance parameters both robot human. An adaptive control scheme by incorporated fuzzy approaches into system to help movement on desired periodic trajectory handle uncertainties known periods. proposed approach does not require muscle model can be proven yield...

In this paper, adaptive neural network control is proposed for a robotic exoskeleton that contains unknown parameters in its dynamic. Neural networks are used to compensate the deadzone effect caused by actuators and dynamics of robot. State-feedback disturbance observer then designed estimate disturbance. Radial Basis Function Networks (RBFNNs) proposing approximate effects thus error tracking desired trajectory shown be bounded. Another RBF estimation robot dynamic which parameters. The...