2013 CACS International Automatic Control Conference (CACS)最新文献

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Detection of moving features using IMU-camera without knowing both the initial conditions and gravity direction 在不知道初始条件和重力方向的情况下,利用imu相机检测运动特征
2013 CACS International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2013.6734149
Jwusheng Hu, Chin-Yuan Tseng, Ming-yuan Chen
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引用次数: 1
Compliance control of wearable robotic fingers for rehabilitation applications 用于康复应用的可穿戴机器人手指顺应性控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2013.6734151
K. Song, Yea-Yen Chai
{"title":"Compliance control of wearable robotic fingers for rehabilitation applications","authors":"K. Song, Yea-Yen Chai","doi":"10.1109/CACS.2013.6734151","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734151","url":null,"abstract":"The rehabilitation quality of stroke patients has drawn much attention in recent years. Researchers have developed various kinds of devices for lower and upper limb rehabilitation functions. In this paper, we present a 3 degrees-of-freedom (3-DOF) wearable robotic fingers for rehabilitation of task-oriented training in grasping tasks. A control strategy is proposed for grasping task training by considering user comfort based-on his/her intention as well as safety in task training procedures. The control strategy is divided into two parts: user compliance control and grasping compliance control. In user compliance control, we employed a mass-spring-damper model for grasping operation when the user exerts an intention force. This strategy allows the user to feel a comfortable guidance of the finger movement. In grasping compliance control, a similar model is used when the finger exoskeleton comes into contact with the object, that the system will become aware of the situation immediately and assist an appropriate grasping force for stable grasping. Experimental verification shows that the developed wearable rehabilitation robotic fingers can provide a comfortable fit for the testers and is capable to assist the testers to achieve grasping task training.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123487178","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
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