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相关概念视频

Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

83
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
83
PD Controller: Design01:26

PD Controller: Design

183
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
183
Electro-mechanical Systems01:19

Electro-mechanical Systems

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Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
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相关实验视频

Updated: Jun 3, 2025

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
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高响应的机器人假肢手掌控制,考虑到电动力学延迟.

Jiwoong Won1, Masami Iwase1

  • 1Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan.

Sensors (Basel, Switzerland)
|January 11, 2025
PubMed
概括

这项研究引入了肌电假肢的改进控制系统,通过考虑电动肌图 (EMG) 信号中的电机延迟 (EMD) 来减少响应时间. 新系统提高了准确性和响应性,以实现更实用的假肢控制.

科学领域:

  • 机器人技术和人机交互的人机交互
  • 生物医学工程 生物医学工程
  • 控制系统 控制系统

背景情况:

  • 机器人融入社会需要先进的人机界面.
  • 肌电假肢依赖于电肌图 (EMG) 信号,这些信号受到电机延迟 (EMD) 的影响.
  • 现有的控制系统往往缺乏准确性和速度,特别是在复杂的运动中.

研究的目的:

  • 开发一种更快,更准确的肌电假肢控制系统.
  • 将机电延迟 (EMD) 纳入控制系统设计中.
  • 为了提高系统对复杂的手指运动的能力.

主要方法:

  • 将4通道有线EMG传感器替换为8通道无线EMG传感器,以提高便利性和数据采集.
  • 分析了与无线传感器相关的通信延迟,并验证了EMD的使用情况.
  • 提出了一个MISO-NARX模型来克服SISO-NARX模型的局限性,并引入了回归来提高系统识别准确性,使用更多的EMG通道.
  • 实现了一个ZPETC+PID控制器与一个实际的伺服电机.

主要成果:

  • 增强的控制系统显示响应时间显著减少,达到目标值大约0.240秒比基线0.428秒快.
  • 使用8通道无线EMG传感器提高了用户方便性和数据通道可用性.
关键词:
这是一个NARX模型.电机延迟 (EMD) 是一种电机延迟.电动肌图 (EMG) 是一种电动肌图.用户的意图用户的意图.零阶段错误跟踪控制 (ZPETC) 系统

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  • 回归成功地解决了由增加的EMG通道引起的模型复杂性和准确性问题,提高了系统识别.
  • 该ZPETC+PID控制器有效地提高了伺服电机的性能.

    • 结论:

    • 开发的控制系统显著提高了肌电假肢的响应能力和准确性.
    • 整合EMD分析和先进的建模技术 (MISO-NARX,回归) 对于改善假肢控制至关重要.
    • 这项研究为更实用,更复杂的肌电假肢设备铺平了道路.