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

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Rehabilitation robot in primary walking pattern training for SCI patient: Training robot for home-use based on the experiments of the hospital-use type 康复机器人在SCI患者初级步行模式训练中的应用:基于院用型实验的家用机器人训练
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084017
T. Sakaki, T. Shimokawa, N. Ushimi, K. Murakami, Yong-Kwun Lee, K. Tsuruta, K. Aoki, K. Fujiie, Ryuji Katamoto, Atsushi Sugyo
{"title":"Rehabilitation robot in primary walking pattern training for SCI patient: Training robot for home-use based on the experiments of the hospital-use type","authors":"T. Sakaki, T. Shimokawa, N. Ushimi, K. Murakami, Yong-Kwun Lee, K. Tsuruta, K. Aoki, K. Fujiie, Ryuji Katamoto, Atsushi Sugyo","doi":"10.1109/ICMECH.2015.7084017","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084017","url":null,"abstract":"Recently, attention has been focused on incomplete-type spinal cord injury (SCI) to the central spine caused by pressure on parts of the white matter conducting pathway such as the pyramidal tract. In this paper, we focus on a training robot designed to assist with primary walking pattern training. The target patient of this training robot is one who is relearning the basic functions of the usual walking pattern, especially for patients with the incomplete type SCI to the central spine, who are capable of standing by themselves but are not capable of performing walking motions. We investigated the movement of joints of the lower extremities, the circumference of the lower extremities and the exercise intensity with the machine. From the experimental results the training robot for home-use based on the experiments on the hospital-use type is proposed. The operating panel, accessibility from wheel chair to the robot and the mechanism were modified for the home-use.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"6 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":"128108903","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
Quick and stable speed control of SPMSM based on current differential signal and extension of DC-link voltage utilization in flux-weakening region 基于电流差分信号的SPMSM快速稳定调速控制及扩展直流链路电压在磁链弱化区域的利用
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084064
Yoshiaki Seki, K. Ohishi, Y. Yokokura
{"title":"Quick and stable speed control of SPMSM based on current differential signal and extension of DC-link voltage utilization in flux-weakening region","authors":"Yoshiaki Seki, K. Ohishi, Y. Yokokura","doi":"10.1109/ICMECH.2015.7084064","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084064","url":null,"abstract":"In the AC servo system, the output voltage is restricted by inverter output limitations. Voltage saturation occurs as a result of this limitation. The settling time of current and speed increases because of voltage saturation. This paper proposes a new control system for the rapid and stable speed response of surface permanent magnet synchronous motor (SPMSM) by using the proposed feedforward flux-weakening control based on current differential signal in the flux-weakening region. As a result of considering the current differential signal, the suppression of voltage saturation is realized with smaller d-axis current in a transient state. Finally, this paper proposes a new combination method of flux-weakening control and inverter modulation scheme, and it is possible to improve the voltage utilization on condition of the flux-weakening region. The proposed speed control system realizes the quick and stable speed and current response. The effectiveness of proposed control methods are confirmed by the experimental results under each load conditions.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"219 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":"115972372","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: 3
Variable compliance control with posture stabilization for biped robot 双足机器人姿态稳定的变柔度控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084011
Keita Kusano, M. Zharif, Y. Uchimura
{"title":"Variable compliance control with posture stabilization for biped robot","authors":"Keita Kusano, M. Zharif, Y. Uchimura","doi":"10.1109/ICMECH.2015.7084011","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084011","url":null,"abstract":"This paper describes a gait control based on variable compliance for a biped robot walking on uneven terrain. The variable compliance changes the stiffness using the zero moment point for each sole and the three-dimensional zero moment point of the vertical ground reaction force. This paper also describes the postural stability control method of the robot, which obtains the depth map and uses the feature extraction and depth information. The experimental results using a 12-degree-of-freedom bipedal robot are provided to evaluate the proposed methods.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"537 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":"116377698","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
An estimation of strength ratios of antagonistic muscle groups based on variable moment arm 基于变力臂的拮抗肌群力量比估计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084013
Naoya Tojo, T. Shimono
{"title":"An estimation of strength ratios of antagonistic muscle groups based on variable moment arm","authors":"Naoya Tojo, T. Shimono","doi":"10.1109/ICMECH.2015.7084013","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084013","url":null,"abstract":"This paper proposes an estimation method of muscular strength based on only output force information at an end-effector of a limb. The muscular strength estimated by the proposal is neither the strength of arms and legs nor torque of a joint. It is output force of functionally-classified muscle groups. Convergence performance of estimation results is improved by utilizing a model taking joint angular dependency of moment arms into account.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"52 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":"125830360","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
Ultrafine manipulation considering input saturation using proxy-based sliding mode control 基于代理滑模控制的考虑输入饱和的超细操纵
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084035
Fumito Nishi, S. Katsura
{"title":"Ultrafine manipulation considering input saturation using proxy-based sliding mode control","authors":"Fumito Nishi, S. Katsura","doi":"10.1109/ICMECH.2015.7084035","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084035","url":null,"abstract":"Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate the cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is the method for force transmission between operator and target object. However, in macro-micro bilateral control, the reference values to the actuator often become too large due to the controller with high gain and scaling factor. Then, the wind-up phenomenon happens due to the actuator-force saturation and undesired and dangerous behavior might occur. To solve this problem, this paper proposes macro-micro bilateral control using the proxy-based sliding mode control. Proxy-based sliding mode control is the method that simple sliding mode control and PID or PD are combined. PSMC is one of the anti-windup method because the saturation function is equivalently considered in the control algorithm. The force saturation can be avoided by using PSMC. The validity of the proposed method is verified by the experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"19 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":"125264902","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: 3
Velocity estimation using EKF for caster odometers — Numerical verification 用EKF估算连铸机里程表的速度。数值验证
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084028
Yutaro Yonezawa, K. Sekiguchi, K. Nonaka
{"title":"Velocity estimation using EKF for caster odometers — Numerical verification","authors":"Yutaro Yonezawa, K. Sekiguchi, K. Nonaka","doi":"10.1109/ICMECH.2015.7084028","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084028","url":null,"abstract":"In this paper, velocity estimation method for caster odometers is proposed. Caster odometer is a sensor of travel distance and attitude angle using caster mechanism that has two-degree of rotational freedoms. We calculate velocities of a vehicle utilizing the output measured by caster odometers, however, the caster mechanism has nonlinearity component. To deal with the nonlinearity of the caster mechanism, a velocity is estimated by the extended Kalman filter. It is expected to reduce the effect of noise with higher precision than conventional methods (approximated differentiation, extended Luenberger observer). We confirm the accuracy of the proposed estimation by comparing to the conventional method in numerical simulation.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"380 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":"121768187","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
Dynamics of a two-mass-spring system which is separated by external input 被外部输入分离的双质量弹簧系统动力学
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084023
Y. Kushida, S. Hara
{"title":"Dynamics of a two-mass-spring system which is separated by external input","authors":"Y. Kushida, S. Hara","doi":"10.1109/ICMECH.2015.7084023","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084023","url":null,"abstract":"To control shock responses of mechanical structures, Momentum Exchange Impact Dampers (MEIDs) have already been proposed. They have been applied to reduce floor shock vibration and control lunar exploration spacecraft landing. Most of the previous researches have not focused on rotational motion induced by the shock yet. This paper discusses a design methodology which reduces mechanical structures' shock responses. The shock responses include both rotational and translational motions. A two-mass-spring system is introduced to discuss the dynamics of shock responses of mechanical structures. The system consists of a body mass and an additional mass. They are connected by a spring. The body mass is subjected to an external input. Two masses are separated by the external input. The system corresponds to a fundamental model of the MEID mechanism including both the translational and the rotational motions. This paper shows the optimal additional mass and its attachment position to reduce both the translational and rotational motion. The robustness against the external input variation is verified by simulations. The rotational momentum and applied force equilibrium is also discussed.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"68 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":"114691835","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
Control system for high precision positioning applications based on piezo motors 基于压电电机的高精度定位控制系统
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083958
T. Uzunović, Edin Golubovic, Dogancan Kebude, A. Sabanoviç
{"title":"Control system for high precision positioning applications based on piezo motors","authors":"T. Uzunović, Edin Golubovic, Dogancan Kebude, A. Sabanoviç","doi":"10.1109/ICMECH.2015.7083958","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083958","url":null,"abstract":"In this paper implementation of a control system for high precision applications is presented. The control system is developed for a Piezo LEGS motor, which is a walking piezo motor that can be employed in nanometric precision applications. In the control system structure, two main components are digital signal controller which executes control algorithm and power driver that is generating driving voltages for the motor. The waveforms of the driving voltages are designed using a recently presented coordinate transformation. This transformation enables synthesis of driving waveforms according to design requirements regarding force imposed to the motor's rod and rod's x-direction trajectory profile. In this work, the waveforms are selected to ensure no relative motion between the motor's legs and rod, and constant velocity of the rod within one step. Control algorithm is named as virtual time control. Despite its simplicity, the algorithm allows high precision positioning which is very close to theoretically achievable one.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"44 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":"127058875","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
Operation evaluations in high speed range of wound field synchronous motor drive integrated with ZSI 与ZSI集成的绕线磁场同步电机驱动在高速范围的运行评价
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084060
G. Tajima, T. Kosaka, N. Matsui, K. Tonogi, N. Minoshima, T. Yoshida
{"title":"Operation evaluations in high speed range of wound field synchronous motor drive integrated with ZSI","authors":"G. Tajima, T. Kosaka, N. Matsui, K. Tonogi, N. Minoshima, T. Yoshida","doi":"10.1109/ICMECH.2015.7084060","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084060","url":null,"abstract":"This paper presents experimental evaluations of drive performances in high-speed range of a wound field synchronous motor (WFSM) drive system integrated with a z-source inverter (ZSI). The WFSM has two field coils as DC field mmf sources instead of permanent magnets. On the other hand, the ZSI employs an impedance-network that consists of two DC reactors and two capacitors. A uniqueness of the proposed drive system lies in that this system makes it possible to reduce size and cost because the two DC reactors serve as both two field coils as the DC field mmf sources in the WFSM and the DC boosting reactors in the ZSI. The comparisons of drive performances in high-speed range between the proposed integrated system and a non-integrated system are experimentally demonstrated and discussed.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"29 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":"129399765","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
Parameter sensitivity study for optimization of single phase E-Core hybrid excitation flux switching machine 单相e芯混合励磁开关电机优化参数灵敏度研究
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084062
E. Sulaiman, S. Zakaria, T. Kosaka
{"title":"Parameter sensitivity study for optimization of single phase E-Core hybrid excitation flux switching machine","authors":"E. Sulaiman, S. Zakaria, T. Kosaka","doi":"10.1109/ICMECH.2015.7084062","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084062","url":null,"abstract":"Research and development on hybrid excitation flux switching machines (HE-FSM) for various applications have been carried out in the last years. The designed HE-FSM consist of permanent magnet (PM) and DC field excitation coil (DC-FEC) as their main flux sources located on the stator, while a single piece rotor gives the advantages of robust rotor structure. Since most of the designed HE-FSMs utilize three-phase windings, more complicated design and control system are required to run the motor. Thus, a new design of single-phase ECore HE-FSM with several advantages of much simpler converter size and smaller battery package due to small voltage capacity when compared with conventional three-phase system is proposed. Consequently, the size of overall configuration systems will also be reduced resulting in reducing total weight and cost. In this paper, initial performances of 4S-4P, 4S-6P, 4S-8P and 4S-10P E-Core HE-FSM topologies are analyzed. Since 4S-10P design gives highest torque and power performances, deterministic design optimization approach is conducted to enhance much higher and optimum performances. As conclusion, the optimized E-core HE-FSM with 4S-10P topology has low back-emf, acceptable cogging torque with maximum torque and power of 208.857Nm and 47.31 kW, respectively.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"57 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":"131151480","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: 5
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