The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
We proposed a hybrid powered ankle exoskeleton. It can be able to supply positive mechanical power to the user during the swing phase of gait. The hybrid powered ankle exoskeleton was composed of a pair of compressed springs and a cable-driven actuator fasted to the shin. It was lightweight, and permitted the cable-driven actuator to provide the forces at the biological level to the ankle joint. Meanwhile...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
This paper presents a new 2-D cylindrical permanent-magnet array for a linear and rotary permanent magnet actuator (LRPMA), in which the angle between the magnetization directions of any two adjacent magnets is 45°. By the given magnetization distributions and boundary conditions in the cylindrical coordinate system, the magnetic field distributions of the actuator with the new 2-D array are analytically...
In order to enhance the operation performance of middle-voltage vacuum circuit breaker, the single phase permanent magnet swing torque motor is presented according to the 40.5kV indoor vacuum circuit breaker. In the aspect of theoretical analysis, the motion characteristics and load characteristics of transmission system are studied and given the structure design and parameters of permanent magnet...
Modern spacecraft systems refer to an engineering platform that depend on the integration of physical systems with control, computation, and communication technologies. In this paper, a self-triggered control approach is introduced for the spacecraft attitude control problem. The self-triggered control proposed in this paper guarantees the desirable stabilization behavior of the spacecraft. Besides,...
All mechanical and electronic systems can run into performance degradation including robot Manipulators. One cause of such performance degradation is due to the occurrence of fault on the actuator. The occurrence of actuator fault on Robot Manipulator 2 DOF (Degree of Freedom) will make tracking of the robot shifted from its reference, cause signal deviation and enlarge overshoot. Estimation and compensation...
C.L.E.O. (Cleaner of Lower Earth Orbit) is a space architecture concept that aims at removing debris, ranged between 1 to 10 cm and even larger in diameter. The module consists of two systems; the capturing mechanism and module stabilization. The oncoming debris will be identified using MWIR sensors. Due to the rotatory tendency of the debris, algorithms are used which will find the size, shape and...
When AMT vehicles are driven under crowded conditions, the vehicle speed should be kept at a low level through clutch control. However, owing to relatively large noise to the low vehicle speed, it is difficult to measure the vehicle speed accurately, instead, in this paper, the transmission output shaft speed is adopted to control the vehicle speed. To improve speed tracking performance, a gain-scheduling...
An observer-based fault-tolerant control scheme is developed for the attitude stabilization control of the rigid spacecraft in the presence of constants and time-varying actuator faults as well as external disturbances. The proposed iterative learning observer employs a learning mechanism to estimate the fault torque values combined with external disturbances, furthermore, the sign function and the...
In this paper, we design a novel knee exoskeleton. The designed exoskeleton has a 1 DOF with knee joint actuated in the sagittal plane. The exoskeleton is actuated base on Series Elastic Actuator (SEA) instead of traditonal stiff actuator. SEA is a compliant actuator, having the advantages of low output impedance, low friction, high quality force control and backdrivability. Thanks to these nice characteristics,...
A cart inverted pendulum system is one of the most common case to be considered for testing many control algorithms, since it has some challenging problems associated with non linearity, complexity and underactuated system model. In fact, non-linearity behaviour of the inverted pendulum can be observed easily. Different pendulum angle response can be obtained by giving the same velocity in the cart...
Because of the high failure rate of the agricultural fixed-wing aircraft due to the terrible working environment, this paper mainly discusses applying robust fault-tolerant control algorithm and Reaction Control System (RCS) actuator to the flight control system when the multi-actuator aircraft is with actuator failures. Firstly, the self-repairing flight control system structure based on dynamic-inversion...
This paper proposes an experimental comparison between two optimal controllers for automotive spark ignition engines, including an gain-scheduled linear quadratic regulation (LQR) controller and model predictive controller (MPC). The aim of the study is to highlight the control effects between the LQR and MPC scheme on the specific engine control problem, and provide a reference for the future controller...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
We present highly integrated sensor-actuator-controller units (SAC units), addressing the increasing need for easy to use components in the design of modern high-performance robotic systems. Following strict design principles and an electro-mechanical co-design from the beginning on, our development resulted in highly integrated SAC units. Each SAC unit includes a motor, a gear unit, an IMU, sensors...
In this paper, we present the control of and experimentation on an active dual-mode twisted string actuation mechanism for automatic transmission. This mechanism has a two-stage transmission ratio and is implemented by changing the twisted radius of the string in each mode (force mode or speed mode). Control algorithms for implementing different transmission ratios are proposed and experimentally...
The use of rehabilitation exoskeleton has become an important means for the treatment of stroke patients. A hybrid exoskeleton named EFW Exo II is developed for the motor function rehabilitation of elbow, forearm and wrist. The EFW Exo II is based on a parallel 2-URR/RRS mechanism and a serial R mechanism. It could fit both left and right arms for the symmetrical and open structure, and the distance...
We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.