The powered exoskeleton promises substantial improvements on daily activities of the people who need robots provide assistance. In order to achieve flexible and stable control a lower limb exoskeleton, in this paper, hybrid that combines brain-computer interface (BCI) based motor imagery (MI) with surface electromyogram (EMG) signals has been developed. We utilized common spatial pattern (CSP) method extract variance electroencephalogram (EEG) back propagation (BP) neural network recognize...

More natural and intuitive control is expected to maximize the auxiliary effect of powered prosthetic leg for lower limb amputees. In order realize stable flexible walking legs in different terrains according human intention, a brain-computer interface (BCI) based on motor imagery (MI) developed. For raw electroencephalogram (EEG) signals, discrete wavelet transform (DWT) utilized extract time-frequency domain features, which are used as input signals common spatial pattern (CSP) obtain...

This paper presents an adaptive time-delay control method to handle the balance of a class biped robots. Considering model uncertainties and unknown external disturbances, high-dimensional integral Lyapunov function has been developed, then estimation technique (TDE) is utilized, in order compensate for errors produced by TDE, law designed. Based on evolution error trajectories, can automatically regulate gains without any threshold value. By synthesis, semiglobally uniformly ultimately...

This paper presents an adaptive control framework for the attitude of jumping robot with time-delay estimation(TDE). For handling uncertainties and unknown coupling motors, voltage-based motor was presented. Compared to current-based model, model is more computationally simple realistic. The proposed law designed compensate error produced by TDE, without considering threshold value parameters. By stability analysis, verified semi-globally uniformly ultimately bounded stability. Experiment...

Recent advances in robotics technology provide great support for robotic leg prostheses to realize full biomechanical functionalities of the contralateral leg. In order reproduce behaviors leg, this article addresses biologically inspired deadbeat control under different terrain conditions including level ground, stairs ascent, and descent. The proposed method is based on ground reactive force during walking. trajectories center-of-mass are encoded by corresponding polynomial splines. Then,...

Human during walking can sense the joint angle and contact force between leg ground uses such information as feedback to regulate performance. To complete this motor control for amputee with prosthesis, human-in-the-loop was proposed. This method involves restoration of sensory unified gait generator. By restoring prosthesis noninvasive Functional Electrical Stimulation (nFES), subject touch-down moment, leave-off height small obstacles on ground. Then, generator converts subject's intent...

In recent decades, there has been a surge in the development of diverse robotic systems aimed at maintenance substation equipment. With advances machinery manufacturing, artificial intelligence and computers, automatic robots have promising prospect autonomous for substation. But, present, extensive research applications robotics are focused on inspection less robots. Autonomous can replace manual operations with large volumes high risks harsh environments, capabilities that do not have....

For leg prosthesis user, the soft tissue and skin under stump of are not accustomed to weight bearing, excessive continuous contact pressure can lead risk degenerative ulceration. This article presents a novel human-robot collaborative control scheme that achieves self-adjustment for robotic prostheses minimize interaction torque. To establish relationship, we regard between human residual limb prosthetic receiving cavity as force. We aim at reducing force premise minimally changing original...

Traditional control method for prostheses is under the target locomotion and known terrain conditions. The relationship between torque angle each joint can be build from measurements of normal human walking locomotion. Hence, these methods not adapt to different or variations. This paper presents an adaptive muscle-reflex controller, which utilizes knee plantar flexor comprise a Hill-type muscle joint's movement. parameters controller were adjusted fit knee's performance based on model....

This paper aims to propose a motion predictive system for the gait control of robotic leg prosthesis realize smooth translation between different walking speeds and terrain conditions. By combining signal inertial measurement unit (IMU) RGBD camera, conditions were recognized, such as level ground, slop, up stair down stair. Moreover, thigh angle amputee can be measured by another IMU mounted on residual limb. The phase variable was constructed states. Combining force sensor attached...

In this paper, a novel adaptive time delay control (ATDC)scheme is proposed to achieve good tracking performance for the biped robots. By utilizing high-dimensional integral Lyapunov function, time-delay estimation (TDE) technique introduced compensate model uncertainties, and new robust integrated nonlinearities TDE error. The law of would regulate switching gain automatically according change error trajectories, increasing or decreasing without any threshold value, respectively....