Abstract Lower extremity robotic exoskeletons (LEEX) can not only improve the ability of human body but also provide healing treatment for people with lower dysfunction. There are a wide range application needs and development prospects in military, industry, medical treatment, consumption other fields, which has aroused widespread concern society. This paper attempts to review LEEX technical development. First, history is briefly traced. Second, based on existing research, classified...

Abstract: This paper presents a novel variable stiffness mechanism, namely the SBTDTS (Spinal Biomimetic Two-Dimensional Tensegrity Structure), which is constructed by integrating bioinspiration derived from biological spinal structures with T-Bar mechanical design within tensegrity structures. A method for determining torsional of around virtual rotational center established based on parallel mechanism theory. The relationship between various structural parameters analyzed through multiple...

In this letter, the design, modeling and control of a novel morphing quadrotor are presented. The can fly stably accurately in air while simultaneously undergoing shape transformation, regardless asymmetry model. four arms rotate around hinges on main body to form various topological models. not same plane, so they overlap with each other. extreme case, width be reduced diameter single rotor allow through narrow gaps more easily. Reinforcement learning (RL) an extended-state approach is...

Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including environmental perception exoskeleton robots, humanoid and rescue robots navigation visually impaired people. Most existing stair algorithms have difficulty dealing with diversity structure materials, extreme light serious occlusion. Inspired by human perception, we propose end-to-end method based on deep learning. Specifically, treat...

This paper introduces a light-weight mobility-aware medium access control protocol for wireless sensor networks (MA-MAC). In many respects, the is similar to preamble based, low power listening MAC protocols. It defines duty-cycle let nodes sleep when they have no packets transmit. During active communication, estimates mobility by evaluating received signal strength of incoming ACK and initiates seamless handover embedding neighbour discovery requests in data packets. Neighbour randomly...

A novel Fuzzy PID-Variable Structure Adaptive Control is proposed for position tracking of Permanent Magnet Synchronous Motor which will be used in electric extremity exoskeleton robot. This control method introduces sliding mode variable structure on the basis traditional PID control. The term designed according to surface by system state equation, so it could compensate disturbance and uncertainty. Considering chattering system, fuzzy inference adopted adjust parameters adaptively real...

Abstract In rehabilitation medicine, real-time analysis of the gait for human wearing lower-limb exoskeleton robot during walking can effectively prevent patients from experiencing excessive and asymmetric training, thereby avoiding falls or even secondary injuries. To address above situation, we propose a detection method based on computer vision monitoring human–machine integrated walking. Specifically, design neural network model called GaitPoseNet, which is used posture recognition in...

Stairs are common vertical traffic structures in buildings, and stair detection tasks important environmental perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from binocular sensors effectively ensuring reliable at night case of extremely fuzzy clues. To solve these problems, we propose a network with red-green-blue (RGB) depth inputs. Specifically, design selective module, which can make learn complementary relationship...

In this paper, a novel powered lower limb exoskeleton prototype called PTEXO for reducing user burden and enhancing following comfort is presented. The designed with new control strategy, Enhanced Sensitivity Amplification Control (ESAC), improves of lower-limb locomotion through three aspects, namely, obtaining high-quality angular acceleration signals, adjusting sensitivities among different model items, increasing continuity during gait phase transitions. This opens option in terms...

The dynamic properties of materials should be analyzed for the material selection and safety design robots used in army other protective structural applications. Split Hopkinson pressure bars (SHPB) is a widely system measuring behavior between 102 104 s−1 strain rates. In order to obtain accurate parameters materials, influences friction inertia considered SHPB tests. this study, effects conditions, specimen shape, configuration on results are numerically investigated rate-independent...

A novel structural design of a wave energy converter (WEC) is proposed, utilizing gyroscope as the main component for absorption. vacuum-sealed, high-speed flywheel implemented within to convert and reduce loss from air resistance. dynamic model that considers response floater, gyroscope, power take-off (PTO) system with multi-degree-of-freedom (DoF) excitations created. The primary parameters such speed, damping, stiffness WEC affect PTO on absorption are analyzed through numerical...

In recent years, the lower limb exoskeleton has been more and widely used in military, medical other fields. this paper, muscle–bone model of during human walking process is analyzed, a with purpose loadbearing designed. The driven by four hydraulic cylinders to hip knee joints whose design load 50 kg. kinematic dynamic designed paper established it simulated. Finally, experiments were carried out on test platform verify that stability, bearing capacity, tracking effect durability can meet...

In this paper, to improve the control performance of hydraulic parallel robot, we develop a model reference adaptive PID based on radial basis function (RBF) neural network. To compensate for asymmetry actuator, adopt strategy. Moreover, RBF network is used identify servo system on-line and then regulate parameters on-line, which makes more adaptive. Simulation results show controller has good tracking robustness, so strategy presented in paper effective.

The structure and working principle of Electro-hydrostatic Actuator was analyzed in this paper. And a mathematical model based on the transfer function given. paper influence electric motor hydraulic section EHA system performance. A nonlinear block diagram Simulink established PID controller designed. simulation results show that can make has better dynamic characteristics than conventional controller.

Loop closure detection is a necessary and challenging problem in simultaneous localization mapping (SLAM). It often processed by using light ranging (LiDAR) or camera sensor. essential to describe laser point cloud information with structural due the lack of texture clouds. This paper presents comprehensive global descriptor, fusion scan context (FSC), that integrates various including altitude, intensity density. To improve efficiency loop detection, three-stage matching method designed,...

Human Lower-limb Exoskeleton has recently received a great deal of attention, because providing motion similar to human walking and reducing burden on both patients therapists. In this paper the design control system for HLE which is actuated by electro-hydraulic servo presented. To improve flexibility system, algorithms called sliding mode variable structure was adopted. The simulation results show that controller better dynamic performance.

Stewart platform equipped with asymmetric hydraulic cylinder controlled by symmetric valve has features such as nonlinearity, time variance and strong interference, which lead to various difficulties in control process. Fuzzy algorithm is an in-time regulating parameters algorithm, the ability emulate behavior of a human operator. logic shows its priority real-time nonlinear system control. This paper represents detailed way servo modeling. A based on fuzzy combined PID established. Computer...

6-DOF parallel robot always appears in the form of Stewart platform. It has been widely used industry for benefits such as strong structural stiffness, high movement accuracy and so on. Space docking technology makes higher requirements motion dynamic performance to control method on robot. In this paper, a hydraulic was simulate process. Based point, paper gave thorough study design an adaptive controller eliminate asymmetric controlled plant uncertain load force interference. Takagi-Sugeno...

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a term to conventional control. The designed according sliding mode and therefore could compensate disturbance uncertainty. Meanwhile, avoids requirements exact knowledge systems associated with equivalent value SMC that means controller simple easy design. stability analysis this...