A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability
المؤلفون المشاركون
Zhang, Xia
Ge, Wenliang
Fu, Hao
Chen, Renxiang
Luo, Tianhong
Hashimoto, Minoru
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-07-18
دولة النشر
مصر
عدد الصفحات
17
التخصصات الرئيسية
الملخص EN
A biologically inspired motion control method is introduced to ameliorate the flexibility and multijoint autonomy of assistive walking devices based on human-robot interactions (HRIs).
A new HRI-based coordination control system consisting of a hip central pattern generator (CPG) control, a knee hierarchical impedance control, and a hip-knee linkage control is also investigated.
Simulations and walking experiments are carried out which demonstrate that (i) the self-oscillation and external communication characteristics of the CPG are capable of realizing ideal master/slave hip joint trajectories.
In addition, symmetrical inhibition in the CPG unit is essential for maintaining the antiphase motion of the left and right hip joints.
(ii) High and low hierarchical impedance control laws allow appropriate knee joint torque to be calculated to maintain posture during the support and swing phases as walking proceeds.
(iii) A hip-knee joint linkage mechanism which incorporates a hip joint CPG control and knee joint impedance control allows natural and relevant hip-knee trajectories to be realized.
The stability of the HRI-based coordination control method is also confirmed using Lyapunov stability theory.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Xia& Ge, Wenliang& Fu, Hao& Chen, Renxiang& Luo, Tianhong& Hashimoto, Minoru. 2018. A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1209599
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Xia…[et al.]. A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability. Mathematical Problems in Engineering No. 2018 (2018), pp.1-17.
https://search.emarefa.net/detail/BIM-1209599
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Xia& Ge, Wenliang& Fu, Hao& Chen, Renxiang& Luo, Tianhong& Hashimoto, Minoru. A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1209599
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1209599
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر