神经元驱动机械臂运动的振幅控制和偏移增强

IF 1.7 4区物理与天体物理 Q3 PHYSICS, CONDENSED MATTER

The European Physical Journal B Pub Date : 2025-04-28 DOI:10.1140/epjb/s10051-025-00925-2

Li Zhang, Wuyin Jin, Guolong Chen

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引用次数: 0

摘要

为了保证机械臂的幅值和偏移量满足人工装置的要求，动力学分析和几何控制至关重要。本文提出了一种由光敏神经回路驱动的简单机械臂，通过对外部光信号的调制来检测机械臂的周期和准周期振荡。提出了用不同函数控制位移幅值的方案，并讨论了用独立参数或初始条件调节位移偏移量的机理。结果表明，这些几何控制方法在不改变机电系统动力学特性的情况下纠正了位移的大小和偏移量。机械臂的灵活性为精确刺激目标神经提供了可靠性。图形抽象

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Amplitude control and offset boosting of motion in the neuron-driven mechanical arm

Dynamic analysis and geometric control are essential for ensuring that the amplitude and offset of the mechanical arm meet the requirements of the artificial device. This paper presents a simple mechanical arm actuated by a light-sensitive neural circuit, with the period and quasi-period oscillations of the mechanical arm detected by modulating the external light signal. The schemes for controlling the displacement amplitude by different functions are proposed, and the mechanisms for adjusting the displacement offset by independent parameter or initial condition are discussed. The results indicate that these geometric control methods correct the magnitude and offset of the displacement without changing the dynamics of the electromechanical system. The flexibility of the mechanical arm provides reliability to the precise stimulation of target nerves.