Design and control strategy of 3-prismatic-revolute-spherical ankle rehabilitation robot

2021 ◽  
pp. 1-14
Author(s):  
Guoqiang Chen ◽  
Zhuangzhuang Mao ◽  
Hongpeng Zhou ◽  
Pengcheng Yang
Keyword(s):  
Control Strategy ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation ◽  
And Control

Research on Dynamics Parameter Identification of Limb for Rehabilitation Robot

2010 ◽  
Vol 455 ◽  
pp. 585-589
Author(s):  
Xiao Bo Guo ◽  
Y. Zhai
Keyword(s):  
Parameter Identification ◽  
Control Strategy ◽  
Back Propagation ◽  
The State ◽  
New Method ◽  
Neutral Network ◽  
Rehabilitation Robot ◽  
Training Mode ◽  
Simulation Results ◽  
And Control

Because of rehabilitants with various characteristics, rehabilitation robot must perceive the rehabilitant states(strength and position) and then adopt corresponding training mode and control strategy. So how to obtain the state of a rehabilitative limb correctly is very significant for a rehabilitation robot during the training. A new method of dynamics parameter identification of limb based on BP (back propagation) artificial neutral network is presented to offer rehabilitation robot dependable information of limb. The simulation results prove that the method of parameter identification can achieve the state of a rehabilitation limb veraciously and robustly. It can suit different rehabilitants at different stages of rehabilitation even if a spasm happens during training.

scholarly journals Gamification and Control of Nitinol Based Ankle Rehabilitation Robot

Biomimetics ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 53
Author(s):  
Chong Tune Hau ◽  
Darwin Gouwanda ◽  
Alpha A. Gopalai ◽  
Cheng Yee Low ◽  
Fazah A. Hanapiah
Keyword(s):  
Mechanical Energy ◽  
Translational Motion ◽  
Rehabilitation Robot ◽  
Nitinol Wire ◽  
Patient’S Experience ◽  
Ankle Rehabilitation ◽  
And Control ◽  
Rehabilitation Exercises ◽  
Healthy Participants ◽  
Rehabilitation Exercise

Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper presents an ankle rehabilitation robot that uses two nitinol wire actuators and a Pong game to provide foot plantarflexion and dorsiflexion exercises. Nitinol is a type of smart material that has high volumetric mechanical energy density and can produce translational motion. A two-state discrete antagonistic control is proposed to manipulate the actuators. The system was tested on healthy participants and stroke patients. The results showed that the robot was safe and compliant. The robot did not forcefully plantarflex or dorsiflex the foot when the participant exerted opposing force. The actuators worked antagonistically to flex to the foot as intended, in sync with the up and down motions of the player’s bat in the game. These behaviors demonstrated the feasibility of a nitinol-based ankle rehabilitation robot and a simple and yet intuitive game in providing interactive rehabilitation exercise. The robot is expected to enhance the patient’s experience, participation and compliance to the rehabilitation routine and to quantitatively monitor the patient’s recovery progress.

Dry chip feedrate control using online chip moisture

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason
Keyword(s):  
Production Rate ◽  
Control Strategy ◽  
Rate Control ◽  
Near Infrared ◽  
Dry Mass ◽  
The Other ◽  
Process Variability ◽  
Moisture Sensor ◽  
Feedback Control Strategy ◽  
And Control

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.

A power management and control strategy with grid-ancillary services for a microgrid based on DC Bus

2014 ◽  
Vol 9 (4) ◽  
pp. 792 ◽  
Author(s):  
Anna Pinnarelli ◽  
Giuseppe Barone ◽  
Giovanni Brusco ◽  
Alessandro Burgio ◽  
Daniele Menniti ◽  
...  
Keyword(s):  
Power Management ◽  
Control Strategy ◽  
Ancillary Services ◽  
Dc Bus ◽  
And Control

scholarly journals Quantitative Correlation and Control Strategy for Element Content Fluctuation along Casting Direction in Central Area of Continuous Casting Billet

Metals ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 452
Author(s):  
Dongwei Guo ◽  
Zibing Hou ◽  
Zhiqiang Peng ◽  
Qian Liu ◽  
Jianghai Cao
Keyword(s):  
Control Strategy ◽  
Central Area ◽  
Solidification Structure ◽  
Equiaxed Crystal ◽  
Correlation Relationship ◽  
Zone Formation ◽  
Zone Width ◽  
Quantitative Correlation ◽  
Central Segregation ◽  
And Control

The statistical correlation was applied to analyze the specific and quantitative correlation relationship between the solidification structure and central segregation along the casting direction in carbon steel billet. On this basis, the segregation formation mechanism of the solute element and related control strategy were investigated. It is found that the equiaxed crystal zone fluctuation along the casting direction determines the fluctuation degree of central segregation. At the same time, the central segregation at a certain position is mostly affected by the equiaxed crystal zone width at the hysteretic position. Moreover, the casting speed can influence the columnar to equiaxed transition (CET) fluctuation along the casting direction by affecting the flow of molten steel in the billet. Overall, the segregation mechanism of solute elements along the casting direction can be summarized into two aspects: First, with the growth of columnar crystals in the initial stage, the segregated solutes are continuously enriched and distributed in the equiaxed crystal zone after CET. The fluctuation of the equiaxed crystal zone will affect the distribution of the enriched solute in the billet and cause the fluctuation of the central segregation. Second, due to the solidification shrinkage at the end of solidification, the solute-enriched liquid phase at the hysteretic position is pumped to the solidification endpoint and forms the central V-shaped segregation. Meanwhile, the stable solidification structure (columnar crystal length or equiaxed crystal zone width) along the casting direction and control measures preceded equiaxed crystal zone formation are beneficial to reduce the central V-shaped segregation.

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