发布求助
文献互助 智能选刊 最新文献

2015 IEEE International Conference on Mechatronics (ICM)最新文献

筛选
英文 中文
Quantitative evaluation of stroke paralysis considering individual differences in symptoms 考虑个体症状差异的脑卒中瘫痪定量评估
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083962
T. Ikeda, Kenji Ogawa, K. Ohnishi
{"title":"Quantitative evaluation of stroke paralysis considering individual differences in symptoms","authors":"T. Ikeda, Kenji Ogawa, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083962","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083962","url":null,"abstract":"This paper presents evaluation methods to evaluate 2 types of stroke paralysis quantitatively. Recently, aging of the population and declining birthrate is progressing in the developed countries. Along with it, the number of stroke patients is expected to increase because of its high disease rate of the elderly, and rehabilitation system by using robot technology is being focused. In order to perform an effective rehabilitation, the system is desired to evaluate recovery state of the paralysis quantitatively. Because there are 2 types of paralysis symptoms, evaluation methods corresponding to each type are required. In this paper, the rehabilitation system which can evaluate each 2 types of symptoms is proposed. This system is intended to evaluate wide range of recovery state including acute stage and chronic stage. In addition, this system can be realized without force sensor. The experiments are performed by using systems with 2 degrees-of-freedom. The validity of proposed method is verified by experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133290848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Compensation for torque fluctuation caused by temperature change in fast and precise positioning of galvanometer scanners 对振镜扫描仪快速精确定位中温度变化引起的转矩波动进行补偿
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084052
D. Matsuka, S. Fukushima, M. Iwasaki
{"title":"Compensation for torque fluctuation caused by temperature change in fast and precise positioning of galvanometer scanners","authors":"D. Matsuka, S. Fukushima, M. Iwasaki","doi":"10.1109/ICMECH.2015.7084052","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084052","url":null,"abstract":"This paper presents a compensation approach for torque fluctuation caused by temperature change of galvanometer scanners in laser-positioning servomechanisms. The galvanometer scanner is driven by a swaying motor which is used in laser drilling machines because of its precise positioning ability. However, since the motor temperature rises during the high speed motion, the reversible flux loss occurs. As a result, thermal demagnetization decreases a torque constant and the overshoot occurs at the settling waveform, resulting in deterioration of precision positioning performance. The proposed approach can estimate the temperature of a permanent magnet with a high degree of accuracy by detected current value using a pre-identified cooling coefficient. Specifically, the approach considers a rise in heat caused by eddy current loss. Then the approach compensates for torque fluctuation using the estimated temperature of the permanent magnet. The proposed approach has been verified by experiments using galvanometer scanners.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123451426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Recovery control by using visually estimated foot sole floating angle for biped walking robot 基于视觉估计脚底漂浮角的双足步行机器人回收控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084009
N. Oda, Kazushi Kushida, Mina Yamazaki
{"title":"Recovery control by using visually estimated foot sole floating angle for biped walking robot","authors":"N. Oda, Kazushi Kushida, Mina Yamazaki","doi":"10.1109/ICMECH.2015.7084009","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084009","url":null,"abstract":"The paper presents a recovery control method based on visually estimated foot sole floating angle for biped walking robots. By using visual scene recognition through image processing, the floating angle of foot sole can be indirectly estimated, and that means the critical state of falling-down motion is able to be detected without force sensation. According to estimated foot sole floating angle, the moment generator is designed in order to recover from floating state of foot sole in this paper. The proposed method will contribute to the improvement of recovery performance against disturbances while standing conditions. The validity of the proposed method was evaluated through several experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129853245","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Virtual-bilateral-type force control for stable and quick contact motion 虚拟双边型力控制稳定和快速的接触运动
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083956
Takami Miyagi, S. Katsura
{"title":"Virtual-bilateral-type force control for stable and quick contact motion","authors":"Takami Miyagi, S. Katsura","doi":"10.1109/ICMECH.2015.7083956","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083956","url":null,"abstract":"The acceleration based force control is very important component in motion control. Looking ahead the development of the robotics system in the future, realization with high accuracy of the force control is essential. Since it is controlled so as to follow the external environment, the control performance completely depends on an impedance of the contact object. In generally, the velocity feedback stabilization is used to solve the problem. This paper tries to improve the fast-response while stabilizing the whole system based on the velocity feedback. The virtual actuator system is introduced in the proposed method. The control input for stabilizing is calculated by considering the interaction between the virtual system and the real system that contacts to objects. As a result, the velocity feedback works only in a contact state. With the proposed method, both of stabilization and quick response of the force control are achieved. The effectiveness of the proposed method is confirmed through the simple experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126789151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Groove depth determination based on extended leakage factor in a 12-slot 10-pole machine 基于扩展泄漏系数的12槽10极机槽深确定
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084059
Bonkil Koo, Minhyeok Lee, K. Nam
{"title":"Groove depth determination based on extended leakage factor in a 12-slot 10-pole machine","authors":"Bonkil Koo, Minhyeok Lee, K. Nam","doi":"10.1109/ICMECH.2015.7084059","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084059","url":null,"abstract":"Presence of subharmonic components is a common feature of fractional slot machines, and the subharmonic is a main cause of rotor PM eddy current losses. As an effort to reduce the fundamental component of a 12-slot 10-pole motor, flux barriers are provided by making grooves on the back iron. The optimal groove depth ratio is found based on a extended (weighted) leakage factor by harmonic distance from the working harmonic number. The extended leakage factor reflects the PM loss by each harmonic component. The result is verified via finite element analysis (FEA).","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"21 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114042644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Robotics-assisted rehabilitation therapy for the hands and wrists using force sensorless bilateral control with shadow and mirror mode 机器人辅助康复治疗的手和手腕使用无力传感器的双侧控制与阴影和镜子模式
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084034
C. Mitsantisuk, K. Ohishi
{"title":"Robotics-assisted rehabilitation therapy for the hands and wrists using force sensorless bilateral control with shadow and mirror mode","authors":"C. Mitsantisuk, K. Ohishi","doi":"10.1109/ICMECH.2015.7084034","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084034","url":null,"abstract":"Recently, the robotic devices are used mainly as therapy aids in the rehabilitation process of a disabled persons. The robotic device are designed with applications of techniques to support the adaptive exercise possible. It can apply to repeat the process exercise as many times as you wish. Moreover, the data measurements of their improvement or decline can be analyzed through the sensors on the device. This paper proposes a specially designed force sensorless bilateral control based on Kalman-Filter Based State Observer (KFSO) for the hand and the wrist of the patient. By using KFSO, it can be applied to estimate a high bandwidth force sensation and good perception of an unknown environmental stiffness. Moreover, bilateral control based on the shadow mode and mirror mode is also proposed in order to improve human hand movement. To successfully implement neuro-recovery process, the mirror mode is proposed to help the brain into thinking the weaker hand or wrist is moving according to the stronger hand or wrist. With such a robust bilateral control scheme, significant high bandwidth haptic sensing in a rehabilitation robot can be achieved. The simulation results of the rehabilitation robot are provided to illustrate the performance of the proposed algorithms.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114255433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
The stable wheeled locomotion in low speed region for a wheel-legged mobile robot 轮腿移动机器人在低速区域的稳定轮式运动
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084010
K. Nagano, Y. Fujimoto
{"title":"The stable wheeled locomotion in low speed region for a wheel-legged mobile robot","authors":"K. Nagano, Y. Fujimoto","doi":"10.1109/ICMECH.2015.7084010","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084010","url":null,"abstract":"This paper discusses solution for the singular configuration problem in wheel-legged mobile robot. First, we show the kinematic constraints of wheel-legged mobile robot. We describe the singular configuration problem at the inverse kinematics calculation. Next, we show a method using the redundancy in kinematic constraints to the acceleration level as solution of the singular configuration problem. Furthermore, we describe a new singular configuration problem that occurs in low speed wheeled locomotion. Finally, the damped least squares method is applied to solve the new singular configuration. In addition, we propose a design of a damping factor in the damped least squares method. The effectiveness of the solution is validated by three-dimensional simulation.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122125512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Multirate adaptive feedforward FIR filter for suppressing disturbances to the Nyquist frequency and beyond 多速率自适应前馈FIR滤波器用于抑制奈奎斯特频率及以上的干扰
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084055
Weili Yan, C. Du, C. Pang
{"title":"Multirate adaptive feedforward FIR filter for suppressing disturbances to the Nyquist frequency and beyond","authors":"Weili Yan, C. Du, C. Pang","doi":"10.1109/ICMECH.2015.7084055","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084055","url":null,"abstract":"In this paper, an add-on multirate adaptive feedforward finite impulse response (FIR) filter is incorporated into the existing slow single-rate track-following control in the hard disk drive (HDD) servo mechanism to suppress the disturbance to the Nyquist frequency and beyond. A multirate least mean square (LMS) algorithm is applied to adjust the parameters in the multirate FIR filter to cancel the effects caused by the disturbance. Our simulation results on the model of the voice coil motor (VCM) in a hard disk drive (HDD) demonstrate that the proposed scheme is able to suppress the disturbances to the Nyquist frequency and beyond.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"836 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123291549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Synchronism evaluation of multi-DOF motion-copying system for motion training 用于运动训练的多自由度运动仿形系统的同步性评价
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084027
K. Nagata, S. Katsura
{"title":"Synchronism evaluation of multi-DOF motion-copying system for motion training","authors":"K. Nagata, S. Katsura","doi":"10.1109/ICMECH.2015.7084027","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084027","url":null,"abstract":"Recently, motion control strategies that deal with position and force information simultaneously are attraction attention for human support. Acceleration control is one of the candidates for realizing position control and force control simultaneously. In this paper, the motion-copying system based on acceleration control is in focus. The motion-copying system is the system which stores human motion, by storing the postion and force information of the human motion. The motion-copying system is expected to be applied to systems in various fields, such as medical surgery robots as well as robots used to train skills. However, the convetional motion-copying system struggles with the problem of losing robustness in the motion-reproduction phase, especially under external disturbances. In this paper, a novel control strategy of motion-copying system which assures robustness under external disturbance is introduced. By using the proposed method, the motion-reproduction system will be able to reproduce the stored motion accurately, even when a trainee is holding on to the system and applying the external force to the system. This system enables a trainee to acquire the stored skills, using both the visual and the haptic sense. Validity of the proposed method is verified through experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122428646","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Posture stabilization of two-wheel drive electric motorcycle by slip ratio control considering camber angle 考虑倾角的滑移率控制两轮驱动电动摩托车姿态稳定
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084001
Takamasa Abumi, T. Murakami
{"title":"Posture stabilization of two-wheel drive electric motorcycle by slip ratio control considering camber angle","authors":"Takamasa Abumi, T. Murakami","doi":"10.1109/ICMECH.2015.7084001","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084001","url":null,"abstract":"Recently, global warming is the serious world problem. To solve this issue, many new vehicles appear today. For example, there is electric motorcycle. This has good environmental performance because of zero emission. However, there has been relatively few researches of two-wheel drive electric motorcycle dynamics. In the past reports, many analysis have not taken into the consideration the slip ratio involved road condition in the case of two-wheel drive yet. Also, the electric motorcycle has an unstable structure. In the conventional approaches, however, the slip ratio definition does not include the camber angle effect and it is not good enough for two-wheel drive system. This paper considers the camber angle effect in the slip ratio and proposes a new slip ratio estimation with camber angle (SREC) and slip ratio control with camber angle (SRCC). By the proposed approach, the improvement of posture stabilization and operability of steering are achieved.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124162366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信