相关论文: Stationary Cycling Induced by Switched Functional …
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
Fuzzy critic-based learning forms a reinforcement learning method based on dynamic programming. In this paper, an adaptive critic-based neuro-fuzzy system is presented for an unmanned bicycle. The only information available for the critic…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
A Hill-type model is proposed for the extension-flexion cycle of human knees during bicycle riding. The extension-flexion cycle is controlled by a synergy of muscular excitations and contractions of the knee musculature. Muscular action…
The main objective of the electrical stimulation of the brain is to generate action potentials from the application of electromagnetic fields. Among the available techniques, transcranial electrical stimulation (TES) represents a popular…
We present a detailed analysis of two-state trajectories obtained from force-clamp spectroscopy (FCS) of reversibly bonded systems. FCS offers the unique possibility to vary the equilibrium constant in two-state kinetics, for instance the…
Mobility impairments, particularly those caused by stroke-induced hemiparesis, significantly impact independence and quality of life. Current smart walker controllers operate by using input forces from the user to control linear motion and…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE)…
Transcranial electric stimulation (TES) can modulate intrinsic neural activity in the brain by injecting weak currents through electrodes attached to the scalp. TES has been widely used as a neuroscience tool to investigate how behavioural…
This paper proposes and experimentally validates a joint control and scheduling framework for a grid-forming converter-interfaced BESS providing multiple services to the electrical grid. The framework is designed to dispatch the operation…
We study three different experiments that involve dry friction and periodic driving, and which employ both single and many-particle systems. These experimental set-ups, besides providing a playground for investigation of frictional effects,…
The "faster-is-slower" (FIS) effect was first predicted by computer simulations of the egress of pedestrians through a narrow exit [Helbing D, Farkas I J, Vicsek T, Nature 407:487-490 (2000)]. FIS refers to the finding that, under certain…
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are…