相关论文: Fuzzy Controller Design for Assisted Omni-Directio…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…

Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…

There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…

Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities. We have developed an assistive robotic system with an intuitive free-view gaze interface. The user's point of regard is…

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…

Today manufacturers are using fuzzy logic in everything from cameras to industrial process control. Fuzzy logic controllers are easier to design and so are cheaper to produce. Fuzzy logic captures the impreciseness inherent in most input…

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…

Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…

Patients with neurological conditions require rehabilitation to restore their motor, visual, and cognitive abilities. To meet the shortage of therapists and reduce their workload, a robotic rehabilitation platform involving the clinical…

Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…

This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…

Adjusting the control actions of a wheeled robot to eliminate oscillations and ensure smoother motion is critical in applications requiring accurate and soft movements. Fuzzy controllers enable a robot to operate smoothly while accounting…

This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…

In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…

In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link…

Muscular Dystrophy is a group of genetic disorders that progressively affect the strength and functioning of muscles, thereby affecting millions of people worldwide. The lifetime nature of MD requires continuous follow-up care due to its…

Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…

People with lower-limb loss, the majority of which use passive prostheses, exhibit a high incidence of falls each year. Powered lower-limb prostheses have the potential to reduce fall rates by actively helping the user recover from a…