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The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic...
A new force control algorithm was proposed for parallel system. Through the analysis of the kinematics theory of multi-axis motion controller, a force control algorithm was put forward based on kinematics. Then a procedure of 2D parallel system as example was given. The result shows it is easy to realize and modify.
Ceramics is an important engineering material. Its characteristics, such as brittleness and hardness, post difficulty when it is being processed with high precision. Grinding is one of the methods to finish parts with high accuracy. However, it is necessary to control the grinding force to achieve the desired surface quality of ceramics parts. In this paper, we present the study results of the influence...
In the labor-intensive fields, lifting a heavy object up and down is regarded as a frequently performed motion which imposes a physical strain on workers. Power assist systems are expected to address such a problem. However, conventional systems in the related studies have the disadvantage of either the effort for wearing or specified operation manner, which may prevent them from being introduced...
Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which...
This paper presents force control systems of a new 6-DOF haptic interface for a 6-DOF serial robot. The haptic interface was designed to operate with three translations and three rotations. First open loop force control is implemented to demonstrate the feed forward static force control based on Jacobian matrix. The error of open loop control can be reduced by a PD controller. However this controller...
The synthesis control of force and position in electro-hydraulic servo system has been applied to some special occasions. Analyzed a typical system which adopted this kind of control algorithm. Applying unchanged structure theory, the compensated transfer function has been deduced, the compensated state-space model is presented. Considering the synthesis control should meet the requirement to force...
This paper attempts to design a power assist system for maneuvering heavy objects in industries based on human operator's perception of object weight. The perceived weight of an object maneuvered with a power assist system is always very much less than the actual weight of the object. But, the human operator cannot differentiate between the perceived weight and the actual weight and eventually applies...
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