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相关概念视频

Energy Diagrams - II01:10

Energy Diagrams - II

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Energy diagrams are important to understand the dynamics of a system. The topology of an energy diagram helps illustrate the equilibrium points of the system.
The point in the energy diagram at which the system’s potential energy is the lowest is known as the local minima. The system tends to stay in this position indefinitely unless acted upon by a net force. The slope of the potential energy diagram at the local minima is zero, indicating that zero net force is acting on the system. The...
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相关实验视频

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Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
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为可逆转的部外骨架提供最佳的能量造型控制.

Jiefu Zhang1, Jianping Lin1,2, Vamsi Peddinti3

  • 1Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, USA.

Proceedings of the ... American Control Conference. American Control Conference
|October 4, 2023
PubMed
概括

这项研究引入了一种新的关节外骨控制器,可以适应用户的运动,减少日常活动的肌肉劳动. 这种先进的控制策略增强了运动障碍患者的自然运动辅助.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 控制系统 控制系统

背景情况:

  • 外骨架经常使用依赖任务的控制器来限制用户的移动.
  • 能量塑造通过修改系统动态提供了不变任务的帮助.
  • 之前的研究将端口控制的哈密尔顿系统应用于膝关节关节外骨架.

研究的目的:

  • 为可反向驱动的部外骨架设计一个控制器.
  • 为多种日常生活任务提供可适应的帮助.
  • 扩展港口控制的哈密尔顿框架用于部外骨架控制.

主要方法:

  • 模拟人类部外骨架系统作为一个端口控制的哈密尔顿系统.
  • 设计一个任务不变控制器,使用互连缓解赋值.
  • 优化对规范性人类扭矩形状的基础函数系数.

主要成果:

  • 控制器成功地适应了协助多个任务.
  • 人体实验表明肌肉努力减少.
  • 控制器提供与规范人类模式相匹配的扭矩.

结论:

  • 开发的控制器有效地协助关节外骨用户完成各种任务.
  • 这种方法可以减少日常活动中个人所需的体力劳动.
  • 港口控制的哈密尔顿框架适用于先进的外骨控制.