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Table of Contents
Intro
Preface
Organization
Contents
Part II
Rehabilitation and Assistive Robotics
Design and Control of a Bimanual Rehabilitation System for Trunk Impairment Patients
1 Introduction
2 System Overview
3 Trunk Rehabilitation Trajectory Generation
3.1 Reference Path Generation
3.2 Customized Training Trajectory Generation
4 Robot arms integration and controls
4.1 Trunk Rehabilitation Trajectory Planning for the Bi-manunal Robots
4.2 Controls
5 Simulation and experiment
5.1 Validation of the System
5.2 Validation of the customized training trajectory generation and control strategy
6 Conclusion and Future Work
References
Study on Adaptive Adjustment of Variable Joint Stiffness for a Semi-active Hip Prosthesis
1 Introduction
2 Hip Prosthesis and Variable Stiffness Joint Structure
3 Control Method
3.1 Overall Design
3.2 Kinematics Mapping Model of Healthy Side to Prosthetic Side
3.3 Modeling of Gait Phase to Stiffness
3.4 Embedded System Design
4 Experiments and Discussions
4.1 Experiments Protocol
4.2 Results
4.3 Discussion
5 Conclusion
2.2 Generative Adversarial Network (GAN)
2.3 Admittance Controller
2.4 PID Controller
3 Experiment and Results of Human Movement Distribution Learning Based on GAN
4 Conclusion
References
Learning from Human Demonstrations for Redundant Manipulator
Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms
1 Introduction
2 Structure Description of the Var2 RAPM
3 Mobility Analysis
4 Inverse Kinematics
5 Kinematic Performance Evaluation
6 Dimensional Optimization
7 Conclusions
References
Control Design for a Planar 2-DOF Parallel Manipulator: An Active Inference Based Approach
1 Introduction
2 Active Inference Controller
2.1 Free Energy Equation
2.2 Belief Update
2.3 Control Actions
3 Dynamic Model of Parallel Manipulator System
3.1 Dynamic Model of Subsystem Without Constraint
3.2 Constraint Design for Parallel Manipulator System
3.3 Dynamic Model of Parallel Manipulator System with Constraints
4 Simulation
5 Conclusion
References
Geometrical Parameter Identification for 6-DOF Parallel Platform
1 Introduction
Preface
Organization
Contents
Part II
Rehabilitation and Assistive Robotics
Design and Control of a Bimanual Rehabilitation System for Trunk Impairment Patients
1 Introduction
2 System Overview
3 Trunk Rehabilitation Trajectory Generation
3.1 Reference Path Generation
3.2 Customized Training Trajectory Generation
4 Robot arms integration and controls
4.1 Trunk Rehabilitation Trajectory Planning for the Bi-manunal Robots
4.2 Controls
5 Simulation and experiment
5.1 Validation of the System
5.2 Validation of the customized training trajectory generation and control strategy
6 Conclusion and Future Work
References
Study on Adaptive Adjustment of Variable Joint Stiffness for a Semi-active Hip Prosthesis
1 Introduction
2 Hip Prosthesis and Variable Stiffness Joint Structure
3 Control Method
3.1 Overall Design
3.2 Kinematics Mapping Model of Healthy Side to Prosthetic Side
3.3 Modeling of Gait Phase to Stiffness
3.4 Embedded System Design
4 Experiments and Discussions
4.1 Experiments Protocol
4.2 Results
4.3 Discussion
5 Conclusion
2.2 Generative Adversarial Network (GAN)
2.3 Admittance Controller
2.4 PID Controller
3 Experiment and Results of Human Movement Distribution Learning Based on GAN
4 Conclusion
References
Learning from Human Demonstrations for Redundant Manipulator
Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms
1 Introduction
2 Structure Description of the Var2 RAPM
3 Mobility Analysis
4 Inverse Kinematics
5 Kinematic Performance Evaluation
6 Dimensional Optimization
7 Conclusions
References
Control Design for a Planar 2-DOF Parallel Manipulator: An Active Inference Based Approach
1 Introduction
2 Active Inference Controller
2.1 Free Energy Equation
2.2 Belief Update
2.3 Control Actions
3 Dynamic Model of Parallel Manipulator System
3.1 Dynamic Model of Subsystem Without Constraint
3.2 Constraint Design for Parallel Manipulator System
3.3 Dynamic Model of Parallel Manipulator System with Constraints
4 Simulation
5 Conclusion
References
Geometrical Parameter Identification for 6-DOF Parallel Platform
1 Introduction