Mechatronics最新文献_第10页

Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training 用于康复训练的上肢外骨骼的自适应混合模式按需辅助控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-04 DOI: 10.1016/j.mechatronics.2024.103188

Yida Guo , Yang Tian , Haoping Wang , Shuaishuai Han

{"title":"Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training","authors":"Yida Guo , Yang Tian , Haoping Wang , Shuaishuai Han","doi":"10.1016/j.mechatronics.2024.103188","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103188","url":null,"abstract":"<div><p>In this paper, a novel adaptive hybrid-mode assist-as-needed (AHMAAN) control algorithm is designed for the exoskeleton-assisted upper limb rehabilitation training. The overall control framework includes an outer control loop to calculate the required interaction force, and an inner control loop to drive the exoskeleton track subject’s motion, and provide specific target interaction force obtained from the outer control loop. In the outer control loop, a hybrid control mode is proposed, which consists of resistive mode and assistive mode. In this regard, a virtual tunnel is firstly established around the defined training task path, and the training mode is switched according to the deviation between the subject’s position and the boundary of the virtual tunnel. Furthermore, for tuning the strength of the resistance or assistance to the subjects with different motor capabilities, two adjustable gain factors are designed, whose values are adaptively adjusted according to the subject’s training performance by using a fuzzy logic. Then, for the inner control loop, a barrier Lyapunov function-based controller is designed to constrain exoskeleton tracking errors within the defined boundary. Meanwhile, time delay estimation (TDE) technology is used to estimate the uncertain terms of the system, and a robust adaption law is developed to compensate TDE error. Experimental tests have been performed on an upper limb exoskeleton with three healthy subjects to evaluate the effectiveness of the developed method. The results show that the proposed control scheme can be effectively applied in a variety of rehabilitation requirements and achieves better training performance than classical hybrid-mode assist-as-needed control method.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103188"},"PeriodicalIF":3.3,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140344299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis 旋转轴 PII1/2DD1/2 位置控制的非尺寸分析和实验评估

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-28 DOI: 10.1016/j.mechatronics.2024.103169

Luca Bruzzone , Chiara Micheli

{"title":"Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis","authors":"Luca Bruzzone , Chiara Micheli","doi":"10.1016/j.mechatronics.2024.103169","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103169","url":null,"abstract":"<div><p>Fractional Order controllers, based on derivatives and integrals of non-integer order, represent a propitious and promising research area since they can improve the performance of mechatronic systems compared to traditional Integer Order PID controllers without requiring hardware upgrades, but only using their higher tuning flexibility. Nevertheless, Fractional Order controllers are still rarely applied in real automation tasks, since their tuning is more complex and in general requires a model-based optimization for full exploitation of their capabilities. Recently, the PII<sup>1/2</sup>DD<sup>1/2</sup> controller has been proposed, extending the classical PID by introducing a half-integral and a half-derivative term. A Bode plot-based tuning method has been presented for this controller, deriving the PII<sup>1/2</sup>DD<sup>1/2</sup> parameters from a given set of PID gains. This method enables a significant reduction in tracking error for position control of a mechatronic axis without the need for complex model-based optimizations. In this paper, the previous results of this PII<sup>1/2</sup>DD<sup>1/2</sup> tuning methodology have been generalized by employing a nondimensional approach. This approach highlights the conditions under which the benefits of this Fractional Order controller over the PID are most significant. The findings have been validated through experimental tests on a rotary axis, confirming the correctness and usefulness of the method.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103169"},"PeriodicalIF":3.3,"publicationDate":"2024-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000345/pdfft?md5=b2974d03795b5e0e127b7d4a3efe7198&pid=1-s2.0-S0957415824000345-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140320746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A hybrid ankle-foot orthosis with soft pneumatic actuation 带软气动驱动装置的混合型踝足矫形器

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-21 DOI: 10.1016/j.mechatronics.2024.103171

Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan

{"title":"A hybrid ankle-foot orthosis with soft pneumatic actuation","authors":"Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan","doi":"10.1016/j.mechatronics.2024.103171","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103171","url":null,"abstract":"<div><p>This paper presents the design, development, and analysis of a powered ankle-foot orthosis for dorsiflexion assistance which aims to improve gait restoration by addressing issues related to orthosis misalignment, limited degrees of freedom, restricted range of motion, and muscular disuse. The proposed orthosis utilizes a novel hybrid design with a combination of both traditional and soft robotics for compliant and unrestrictive ankle dorsiflexion assistance for sufferers of footdrop. This article describes the complete design of the orthosis including analytical modeling and experimental testing of the soft pneumatic actuator and the development of gait phase detection and ankle angular feedback systems using wearable sensors for accurate and responsive control. Preliminary analysis was completed which validates the orthosis as a lightweight, unrestrictive, and compliant device that is capable of dorsiflexing the ankle of a person up to 100 kg, and at walking speeds appropriate for safe and effective community ambulation of up to 1.04 m/s. The novel design of the device demonstrates the potential for improved rehabilitative outcomes for patients with footdrop, due to the ability to adjust the assistive force of the device, throughout the progression of rehabilitation, which encourages muscular participation of the user and therefore reduces issues caused by muscular disuse.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103171"},"PeriodicalIF":3.3,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000369/pdfft?md5=1c07cd8fe33a3ed810b88e2ec9277382&pid=1-s2.0-S0957415824000369-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140180430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages 基于精确轮廓误差估计的双线性电机驱动龙门平台鲁棒轮廓控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-21 DOI: 10.1016/j.mechatronics.2024.103174

Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu

{"title":"Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages","authors":"Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu","doi":"10.1016/j.mechatronics.2024.103174","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103174","url":null,"abstract":"<div><p>This article presents a novel adaptive contour control scheme for dual-linear-motors-driven gantry stages (DLMDGSs) with time-varying model parameters and disturbances, aiming to realize high-precision contour control. Specifically, a novel adaptive contour controller based on a coupled model is proposed, incorporating powerful projection adaption laws, to achieve the synchronization of multi-axis motors, regression of adaptive parameters, and high-precision contour performance. Additionally, a contour error estimation (CEE) method with four-order convergence rate is designed to ensure estimation accuracy, enhance estimation robustness, and reduce estimation time. Moreover, considering the periodicity of common control contour tasks, an iterative learning control (ILC) reference trajectory compensation structure is adopted to further improve the contour control effect. Finally, the stability and convergence of the closed-loop system are rigorously proven, and comparative experiments are conducted on a DLMDGS platform to demonstrate the superiority of the proposed control strategy.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103174"},"PeriodicalIF":3.3,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140181343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cooperative compensate register control for mechanical shaft driven roll-to-roll printing system with dancer rolls 带舞动辊的机械轴驱动辊对辊印刷系统的合作补偿套准控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-18 DOI: 10.1016/j.mechatronics.2024.103172

Tao Zhang , Ying Zheng , Zhonghua Deng , Zhihua Chen

{"title":"Cooperative compensate register control for mechanical shaft driven roll-to-roll printing system with dancer rolls","authors":"Tao Zhang , Ying Zheng , Zhonghua Deng , Zhihua Chen","doi":"10.1016/j.mechatronics.2024.103172","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103172","url":null,"abstract":"<div><p>In mechanical shaft driven roll-to-roll (R2R) printing systems, tension propagation caused by the regulation of dancer rolls increase the control difficulty of the whole system. In this paper, a cooperative compensate control (CoComC) method is proposed for the R2R printing systems to attenuate tension fluctuation and reduce the register errors. Specifically, a mechanical model is established to quantify the relationship among the web tension, linear velocity of dancer roll and register error. Based on the model, a well-tuned feedback control law is designed for each dancer roll, and a cooperative matrix is proposed to coordinate the feedback control to attenuate the tension fluctuation and reduce the register error in the corresponding printing unit. Further, the stability and convergence condition of the proposed control system are provided and proved via Lyapunov stability theory. The effectiveness of the proposed control method is demonstrated by experiments. Comparisons of the existing control method are carried out to show the superior performance of CoComC, i.e., higher register accuracy, superior fluctuation attenuation performance and less waste of printing material.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103172"},"PeriodicalIF":3.3,"publicationDate":"2024-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140145252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A 4-DoF wearable hand device for haptic rendering of surfaces and edges 用于表面和边缘触觉渲染的 4-DoF 可穿戴手部设备

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-18 DOI: 10.1016/j.mechatronics.2024.103173

Lisheng Kuang , Monica Malvezzi , Marco Ferro , Domenico Prattichizzo , Paolo Robuffo Giordano , Francesco Chinello , Claudio Pacchierotti

引用次数: 0

Cross-coupled iterative learning control: A computationally efficient approach applied to an industrial flatbed printer 交叉耦合迭代学习控制：应用于工业平板打印机的高效计算方法

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-15 DOI: 10.1016/j.mechatronics.2024.103170

Leontine Aarnoudse , Johan Kon , Koen Classens , Max van Meer , Maurice Poot , Paul Tacx , Nard Strijbosch , Tom Oomen

引用次数: 0

Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983] 对 "提高垂直压电平台承载能力和位移平稳性的另一种驱动方法 "的更正 [Mechatronics, 2023, 92: 102983]

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-13 DOI: 10.1016/j.mechatronics.2024.103167

Qingbing Chang, Jie Deng, Weishan Chen, Yingxiang Liu

引用次数: 0

Hysteresis identification of joint with harmonic drive transmission based on Monte Carlo method 基于蒙特卡洛法的谐波驱动传动接头磁滞识别

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-07 DOI: 10.1016/j.mechatronics.2024.103166

Qi Wang , Huapeng Wu , Heikki Handroos , Yuntao Song , Ming Li , Jian Yin , Yong Cheng

{"title":"Hysteresis identification of joint with harmonic drive transmission based on Monte Carlo method","authors":"Qi Wang , Huapeng Wu , Heikki Handroos , Yuntao Song , Ming Li , Jian Yin , Yong Cheng","doi":"10.1016/j.mechatronics.2024.103166","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103166","url":null,"abstract":"<div><p>In this study, we analyze the hysteresis behavior of robotic joints equipped with harmonic drivers under various speeds and loads, focusing on a range of hysteresis models including the Bouc–Wen (BW), Fractional Order Bouc–Wen (FOBW), and their integration with the Krasnoselskii–Pokrovskii (KP) model. This integration, which forms the KP-FOBW model, is a novel aspect of our research, offering an enhanced understanding of non-linear and hysteresis behaviors in robotic joints. We employ the Monte Carlo method, particularly focusing on the Stochastic Gradient Hamiltonian Monte Carlo (SGHMC), for precise parameter identification. Our results demonstrate that the FOBW model, especially when combined with the KP model, provides a more accurate representation of the hysteresis curves under varying operating conditions. The KP-FOBW combination emerges as a powerful tool to predict the output torque in robotic joints. This study contributes to a deeper understanding of hysteresis in joints with harmonic drivers, showcasing its potential for complex dynamic modeling in robotics.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103166"},"PeriodicalIF":3.3,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582400031X/pdfft?md5=6d5cbdbd0ee811ae8840c8af1375cfc1&pid=1-s2.0-S095741582400031X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140051994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Trajectory tracking control of autonomous space-based simulators for the on-orbit assembly of large space optical telescopes 用于大型空间光学望远镜在轨组装的自主天基模拟器的轨迹跟踪控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-07 DOI: 10.1016/j.mechatronics.2024.103168

Jinhe Yang , Xuewen Wang , Ce Xu , Yi Yu , Tongjian Guo

引用次数: 0