2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)最新文献

3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot 单轮机器人的三维建模与非线性微分算法控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-06-20 DOI: 10.1109/AMC.2016.7496409

D. V. Bui, Y. Fujimoto

引用次数: 1

Control implementation for an integrated robotic and virtual mirror therapy system for stroke rehabilitation 脑卒中康复综合机器人与虚拟镜像治疗系统的控制实现

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496396

Ian Emerson, J. Potgieter, Weiliang Xu

{"title":"Control implementation for an integrated robotic and virtual mirror therapy system for stroke rehabilitation","authors":"Ian Emerson, J. Potgieter, Weiliang Xu","doi":"10.1109/AMC.2016.7496396","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496396","url":null,"abstract":"Stroke affects approximately 2% of the population, and with advances in modern technology, more patients are surviving the event and requiring rehabilitation, placing further demand on already stretched medical systems. Because of this, an emergent area of research has arisen, investigating the use of robotics as a means to aid in the rehabilitation of patients affected by stroke. Projects such as the MIT Manus have provided evidence of the efficacy of robotic rehabilitation for stroke patients, but further research is required to provide ongoing improvements to this approach. Further to this, mirror therapy, a treatment initially found to be useful in the treatment of phantom pain syndrome in amputees, has also shown promise in the rehabilitation of stroke, though further research into the mechanisms behind mirror therapy need further investigation. A novel prototype robotic rehabilitation system was developed to investigate the integration of these two emergent approaches to stroke rehabilitation as a more comprehensive approach to stroke rehabilitation. This system was developed around a small industrial robot, utilising motion capture and force feedback for control of the robot with a virtual mirror therapy system to provide visual stimulation for the patient. The operation of the prototype was verified, however further development is required to produce a system suitable for patient trials.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125025451","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

Estimation of lower-extremity muscle forces by using task-space information 基于任务空间信息的下肢肌力估计

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496380

Masashi Sekiya, Shota Itoh, Kunihiro Ogata, T. Tsuji

引用次数: 0

Equilibrium state control for climbing robot 攀爬机器人的平衡状态控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496392

A. Shimada, N. A. Dung

引用次数: 4

Estimation of load-side position of two mass resonant systems using MEMS accelerometers 用MEMS加速度计估计两个质量谐振系统的负载侧位置

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496356

Koji Watanabe, Kazuaki Ito, M. Iwasaki, R. Antonello, R. Oboe

引用次数: 4

Electromagnetic damper control strategies for light weight electric vehicles 轻型电动汽车电磁阻尼器控制策略

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496321

Alista Fow, M. Duke

引用次数: 4

Trajectory tracking control method and experiment of AGV AGV轨迹跟踪控制方法及实验

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496323

Dongdong Chen, Zhenyun Shi, Peijiang Yuan, Tianmiao Wang, Yuanwei Liu, Minqing Lin, Zhijun Li

引用次数: 9

Telepresence control of humanoid robot via high-frequency phase-tagged SSVEP stimuli 基于高频相位标记SSVEP刺激的仿人机器人远程呈现控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496353

Hong Hu, Jing Zhao, Hongbo Li, Wei Li, Genshe Chen

引用次数: 4

Robust H∞ control for Active Magnetic Bearing system with imbalance of the rotor 转子不平衡主动磁轴承系统的鲁棒H∞控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496366

Masaki Goto, T. Mizuno, I. Takami, Gan Chen

{"title":"Robust H∞ control for Active Magnetic Bearing system with imbalance of the rotor","authors":"Masaki Goto, T. Mizuno, I. Takami, Gan Chen","doi":"10.1109/AMC.2016.7496366","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496366","url":null,"abstract":"This paper proposes design of a robust H∞ controller for Active Magnetic Bearing (AMB) system. In this paper, the rotor of AMB has both static and dynamic imbalance. AMB system is affected by gyroscopic effect and imbalance of the rotor. Gyroscopic effect depends on angular velocity of the rotor. The H∞ controller is designed to suppress the vibration caused by imbalance and gyroscopic effect. The purpose of this study is to control attitude of the rotor. In order to control the attitude of the rotor, the perturbation of the rotor from equilibrium point is decreased by the state-feedback control. Mathematical model of AMB has first and second order terms of the angular velocity. In attempt to guarantee the robust stability for a prescribed range of angular velocity with lower conservativeness, the second order terms of angular velocity are changed into first order terms by using linear fractional transformation (LFT) and descriptor representation. Polytopic representation is applied to the system matrices which has only the first order terms of the varying parameter. H∞ controller is obtained by solving a finite set of linear matrix inequality (LMI) conditions at the vertex matrices of the polytope. Furthermore the effectiveness of the proposed controller is illustrated by simulations comparing with robust linear quadratic controller (RLQ).","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113933011","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: 8

A visual positioning and measurement system for robotic drilling 一种用于机器人钻井的视觉定位测量系统

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496393

Yuanwei Liu, Zhenyun Shi, Peijiang Yuan, Dongdong Chen, Minqing Lin, Zhijun Li

引用次数: 3