Archive for Январь, 2006

An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints

Дата: Январь 10th, 2006 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1314
  • Название документа: An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints
  • Номер (DOI, IBSN, Патент): 10.1109/ROBOT.2005.1570516
  • Изобретатель/автор: Tachi, S., Nakagawara, S., Kawakami, N., Kawabuchi, I., Kajimoto, H.
  • Правопреемник/учебное заведение: nkgwr@star.t.u-tokyo.ac.jp
  • Дата публикации документа: 2006-01-10
  • Страна опубликовавшая документ: Япония
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.

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Neural-Network Inverse Dynamic Online Learning Control on Physical Exoskeleton

Дата: Январь 1st, 2006 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 3986
  • Название документа: Neural-Network Inverse Dynamic Online Learning Control on Physical Exoskeleton
  • Номер (DOI, IBSN, Патент): 10.1007/11893295_77
  • Изобретатель/автор: Yuhai Yin, Yang, Zhiyong, Lizong Lin, Heng Cao, Gu Wenjin, Ding Du
  • Правопреемник/учебное заведение: East China University of Science and Technology, School of Mechanical and Power Engineering, Shanghai, China
  • Дата публикации документа: 2006-01-01
  • Страна опубликовавшая документ: Китай
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: https://springerlink3.metapress.com/content/p531545211228j46
  • Вложения: Нет
  • Аналитик: Helix

Exoskeleton system which is to assist the motion of physically weak persons such as disabled, injured and elderly persons is discussed in this paper. The proposed exoskeletons are controlled basically based on the electromoyogram (EMG) signals. And a mind model is constructed to identify person’s mind for predicting or estimating person’s behavior. The proposed mind model is installed in an exoskeleton power assistive system named IAE for walking aid. The neural-network is also be used in this system to help learning. The on-line learning adjustment algorithm based on multi-sensor that are fixed on the robot is designed which makes the locomotion stable and adaptable.

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