2021 IEEE International Conference on Mechatronics (ICM)最新文献_第7页

Localization of Wheeled Mobile Robots from Slip Ratio Estimation with Simple Model 基于滑移率估计的轮式移动机器人简单模型定位

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385671

Urara Kono, H. Fujimoto, Y. Hori

引用次数: 2

Cascade Terminal Sliding Mode Control for PMSM with Nonlinear Disturbance Observer 带非线性扰动观测器的PMSM串级末端滑模控制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385635

Xin Che, Dapeng Tian, P. Jia

引用次数: 1

Modular Drivetrains for Increased Performance and Reliability 模块化传动系统，提高性能和可靠性

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385597

Thomas Vandenhove, Reginald Diltoer, B. Lenaerts, Davidenko Os, K. Stockman, S. Schlimpert

引用次数: 5

Disturbance Observer Based Glocal Control of Mechatronics Systems: A Passivity Approach 基于扰动观测器的机电系统全局局部控制:一种无源方法

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385688

B. Nguyen, M. Kawanishi, Daichi Hasegawa, Kento Ohara, T. Narikiyo

引用次数: 0

Disturbance Rejection Based on Equivalent-Input-Disturbance Approach Using High-Order Filter 基于等量输入扰动的高阶滤波干扰抑制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385599

Qi Mei, Jinhua She, Zhentao Liu, Yonghua Xiong, Wangyong He, Danyun Li

引用次数: 1

Torque Ripple Reduction for PMSM based on PWM Pulse Merging Method for High Speed Range 基于高速范围PWM脉冲合并方法的PMSM转矩脉动抑制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385630

Shona Noguchi, H. Fujimoto

引用次数: 0

Basic Study on Analysis and Suppression of Inverse Response Caused by Feedforward Friction Compensation of Ball-screw-driven Stage 滚珠丝杠传动平台前馈摩擦补偿反响应分析与抑制的基础研究

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385642

Takumi Hayashi, H. Fujimoto, Yoshihiro Isaoka, Yuki Terada

引用次数: 3

Multirate Feedforward Control based on Modal Form with Mode Selection Applied to Multi-Modal High-Precision Positioning Stage 基于模态形式与模态选择的多速率前馈控制在多模态高精度定位台上的应用

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385685

Masahiro Mae, W. Ohnishi, H. Fujimoto

引用次数: 1

Skeleton-based visualization of poor body movements in a child's gross-motor assessment using convolutional auto-encoder 使用卷积自编码器对儿童大运动评估中不良身体运动的骨骼可视化

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385618

Satoshi Suzuki, Yukie Amemiya, Maiko Sato

{"title":"Skeleton-based visualization of poor body movements in a child's gross-motor assessment using convolutional auto-encoder","authors":"Satoshi Suzuki, Yukie Amemiya, Maiko Sato","doi":"10.1109/ICM46511.2021.9385618","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385618","url":null,"abstract":"This paper deals with human activity recognition (AR), which is the basic technology for understanding human behavior and movement in the field of sensing applications for human support systems. Focusing on children's gross motor (GM) skills as an AR target, a new visualization method to point out children's poor body movements is presented. The visualization is achieved as anomaly detection by an autoencoder (AE) trained with good GM movements with a complete rating score, and poor limb motion in GM is detected as anomal points by the GM-AE which is combined with authors' previous GM-AR and AE. In preparation for the GM-AE, the previous dataset and data augmentation have been improved, and new GM-AR was completely realized with an identification accuracy of 99.3 % to 148 actual assessment patterns out of 200 theoretical assessment combinations of the GM assessment tool TGMD-3. Using appropriate preparations proven by the GM-AR stage, we investigated some deep learning conditions related to GM-AE. Finally, it was confirmed that the presented visualization method can emphasize the points that match the evaluation items of TGMD-3.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130405437","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

Adaptive Robust Force Control of an Underactuated Stance Leg Exoskeleton for Human Performance Augmentation 基于欠驱动姿态腿外骨骼的自适应鲁棒力控制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385694

Shan Chen, Teng Han, Fangfang Dong, Jiang Han, Lei Lu, Haijun Liu

{"title":"Adaptive Robust Force Control of an Underactuated Stance Leg Exoskeleton for Human Performance Augmentation","authors":"Shan Chen, Teng Han, Fangfang Dong, Jiang Han, Lei Lu, Haijun Liu","doi":"10.1109/ICM46511.2021.9385694","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385694","url":null,"abstract":"Wearable lower limb exoskeleton is a kind of human robot integrated system which can be used to augment the human performance when carrying heavy loads. In recent years, in order to further reduce the self-weight and energy consumption of systems, underactuated exoskeletons are proposed. However, the existed control methods are mainly proposed for fully actuated exoskeletons which are hardly to be applied for underactuated systems. This paper focuses on the precision human machine interaction force control of 3DOF underactuated stance leg exoskeleton system so that accurate human motion trajectory tracking can still be achieved in principle load bearing directions. Specifically, we assume the wearer can provide an appropriate amount of torque to ensure the rotation angle of the exoskeleton back moving in a bounded trajectory. Considering the holonomic constraint provided by the wearer, the 3DOF underactuated exoskeleton system is then transformed into a 2DOF fully actuated system. An adaptive robust cascade force control algorithm is then developed to deal with various parameter uncertainties and uncertain nonlinearities (modeling errors and external disturbances). Comparative Simulation results show that the proposed adaptive robust cascade force control algorithm can achieve high precision human-machine interaction force control in principle load bearing directions, and has strong performance robustness to various model uncertainties.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125124501","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