As passive rehabilitation training with fixed trajectory ignores the active participation of patients, in order to increase patients and improve effect training, this paper proposes an innovative adaptive sliding mode variable admittance (ASMVA) controller for Lower Limb Rehabilitation Exoskeleton Robot. The ASMVA consists outer loop inner controller. It estimates wearer’s muscle strength movement intention by judging deviation between actual standard interaction force leg exoskeleton,...

The lower-limb assist exoskeleton plays the role of torque assiting and compliant tracking for wearers to perform tasks. Accurate generation, backdrivability performance, low output impedance, hardware compactness are essential factors achieve better physical interaction. This research studies a crank-slider series elastic actuator (CS-SEA) that can be used as compact joint module. device has unique crank slider mechanism, set linear springs equipped inside guarantee nonlinear stiffness its...

Multi-sensor measurement is widely employed in rotating machinery to ensure the safety of machines. The information provided by single sensor not comprehensive. signals can provide complementary characterizing health condition This paper proposed a multi-sensor fusion convolution neural network (MF-CNN) model. model adds 2-D layer before classical 1-D CNN automatically extract features and minimize loss information. A series experiments are carried out on rolling bearing test rig verify...

In response to the need for an exoskeleton quickly identify wearer’s movement mode in mixed control mode, this paper studies impact of different feature parameters surface electromyography (sEMG) signal on accuracy human motion pattern recognition using multilayer perceptrons and long short-term memory (LSTM) neural networks. The sEMG signals are extracted from seven common patterns daily life, time domain frequency features build a parameter dataset training classifier. Recognition lower...

This article presents the design of an amphibious spherical robot with a sole focus on its mechanical to achieve high torque, versatile motion modes, compact and lightweight structure, stability traction, without relying optimal control strategies. To this, we unified use twin eccentric pendulums for flywheels inertial stabilization enhanced flywheel brakes instantaneous torque overcome obstacles. Dynamic analysis is performed, which gives insight into robot's helps in making decisions....

This paper presents the E-LEG, a novel semi-passive lower-limb exoskeleton for worker squatting assistance, with motorized tuning of assistive height. Compared other passive industrial exoskeletons lower-limbs, E-LEG design features namely inertial sensor measuring tilt angle thigh and electromagnetic switch adjusting squat These could enhance effectiveness system. In addition to introduction design, this also reports systematic experimental evaluation human subjects. With assistance...

Aiming at the requirement of rapid recognition wearer's gait stage in process intelligent hybrid control an exoskeleton, this paper studies human body mixed motion pattern technology based on multi-source feature parameters. We obtain information lower extremity acceleration and plantar analyze relationship between these parameters cycle studying state method evaluation neural network. Based actual requirements exoskeleton per use, 15 common patterns were determined. Using this, carried out...

In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which beneficial load-bearing conduction, but restricts natural movement human body, thereby causing ergonomic risks. This article proposes a exoskeleton composed multiple elastic spherical hinges inspired by biological spine. spine can assist in process bending body...

This paper aims at the problems of slow speed for existing high-voltage line inspection robot moving over obstacles, and designs an foreign bodies removing walking on twin bundle conductors, which can move spacers counterweights directly fast. In this paper, motion simulation shows that a using four symmetrical driving wheels not spacer, thus asymmetrical wheel is designed. And through prototype experiment, it proved with fast counterweights. only provides feasible efficient solution...

Aiming at the passive rehabilitation training based on standard gait trajectory can not meet needs of lower limb paralyzed patients, a strategy for robot interactive force adaptive controlling is proposed, and sliding mode control method RBF neural network that realize designed. In order to better wearer's training, this takes walking healthy humans position extremity exoskeleton, leg exoskeleton wearer used as constraint basis interaction adjustment. The experimental results show metho ◦ d...

This article presents a design of an electrically powered spine-hip assistive exoskeleton (SHAE) to relieve back muscle fatigue industrial workers and prevent injuries. The rigid–flexible coupling driving realizes the performance system in terms comfort, weight, flexibility, durability, feasibility. It uses only two series elastic actuators (SEAs), coupled drive hip joints one bio-inspired spine mechanism. SEA is realized by ball screw slider, which is, respectively, transmitted mechanism...

Abstract Aimed at the challenges of wide-angle mobile robot visual perception for diverse field applications, we present spherical system that uses a 360° view (FOV) realizing real-time object detection. The image acquisition model is developed with optimal parameters, including camera spacing, axis angle, and distance target plane. Two 180 $^{\circ}$ -wide panoramic FOVs, front rear view, are formed using four on-board cameras. speed SURF algorithm increased feature extraction matching. For...

Aiming at the problem of insufficient stability existing spherical robot, a robot driven by eccentric pendulums and self-stabilizing flywheel is proposed in this paper. The gravity shift pendulum its improved flywheels rotating high speed. This paper designed structure established three-dimensional model SolidWorks. After finishing prototype, motion performance verified experiment. According to experimental results, maximum climbing angle only eccentricity 7°, can be significantly when...

Aiming at the fatigue and soreness of shoulder muscles caused by lifting arm with hand tools under specific conditions in factories, a passive shoulder-lifting exoskeleton was designed to assist human support. Based on upper limb movement characteristics, man-machine multi-link design is carried out improve flexibility movement. A cam spring energy storage mechanism operating space above chest exoskeleton, has no resistance when walking. Through selection dynamics simulation mechanism,...

Abstract Thermal barrier coating (TBC), which can protect the metallic components from hot gas, is one of core technologies to achieve development goal higher thermal efficiency and lower emission for gas turbine. A double-coat TBC was prepared on Mar M247 substrate turbine blade consisted a CoNiCrAlY bond coat(BC) by high velocity oxygen fuel(HVOF) ZrO 2 -8Y O 3 (8YSZ) top coat(TC) atmospheric plasma spraying (APS).The microstructure analyzed optical microscope(OM) scanning electron...

Magnetorheological (MR) fluid exhibits the ability to modulate its shear state through variations in magnetic field intensity, and is widely used for applications requiring damping. Traditional MR dampers use current coil adjust strength, but accumulated heat can cause strength decay if it works a long time. In order deal with this shortcoming, novel damper proposed paper, which based on variable displacement permanent magnet output resistance torque applied an exoskeleton joint human load...

Traditional engineering education of innovative thinking mainly focused on knowledge imparting, and learning, but it weakens the cultivation students' practical ability. In this paper, a new pattern is proposed, which combines abstract design innovation with specific robot maker practice. By offering general course for all professional students, teaches theory, methods tools systematic thinking, cultivates system thinking. Taking production process robots as object content teaching,...

Using Artificial Neural Network (ANN) for Dissolved Gas Analysis (DGA) of transformer insulation will be more accurate than the methods used before. The accuracy and rate ANN analysis had been improved further by using multi-subdivided ANNs biological nerves.

For the poor portability of unpowered military load exoskeleton robot, an innovative design strategy based on TRIZ is proposed. An process model conflict solving theory established, and its convenient portable function has been implemented. By defining problem, we use separation principle inventive resolution to solve problem. adjustable self-locking mechanism adopted fold knee joint, a scalable used replace original thigh shank reduce volume. Finally, robot improved, which great...

At present, the connection mechanism between various exoskeleton robots and human body widely adopts way of rigid fixed strap connection, which greatly affects user's wearing experience in case long time intense exercise. Therefore, this paper proposes an effective intelligent variable stiffness constraint system, can increase use's motion flexibility interactive comfort when exoskeleton, has important application value. Firstly, model system (passive active) is established. The dynamic...

Flexible hand exoskeleton robots are more and used in medical rehabilitation. This is due to the fact that these exoskeletons have strong compatibility with hands, can realize continuous deformation, apply force according motion trajectory. paper proposes a cable-actuated flexible exoskeleton. Firstly, model of one finger established. Then for rehabilitation designed constructed based on it. The remotely actuated by motor transmitted through cables achieve bidirectional drive fingers. In...