scholarly journals Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

2022 ◽  
Vol 35 (1) ◽  
Author(s):  
Fu Yuan ◽  
Diansheng Chen ◽  
Chenghang Pan ◽  
Jun Du ◽  
Xiaodong Wei ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Visual Stimulation ◽  
Wearable Sensors ◽  
Balance Training ◽  
The Elderly ◽  
Vestibular Stimulation ◽  
Age Progression ◽  
Virtual Scene ◽  
Training Mode ◽  
Planning Algorithm

AbstractTo accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a six degree-of-freedom parallel platform. Using the platform movement and IMU wearable sensors, two training modes, i.e., active and passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied to achieve visual stimulation. In the active training mode, the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene. In the passive training mode, the platform movement is combined with the virtual scene to simulate bumpy environments, such as earthquakes, to enhance the human anti-interference ability. To achieve a smooth switching of the scene, continuous speed and acceleration of the platform motion are required in some scenarios, in which a trajectory planning algorithm is applied. This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk (differential of acceleration) based on cubic spline planning, which can reduce impact on the joint and enhance stability.

Application of Optimal-Jerk Trajectory Planning in Gait Balance Training Robot

2020 ◽  
Author(s):  
Yuan Fu ◽  
Dian-Sheng Chen ◽  
Xiao-Dong We ◽  
Min Wang
Keyword(s):  
Trajectory Planning ◽  
Visual Stimulation ◽  
Wearable Sensors ◽  
Balance Training ◽  
The Elderly ◽  
Vestibular Stimulation ◽  
Virtual Scene ◽  
Training Mode ◽  
Planning Algorithm ◽  
Smooth Switching

Abstract Aiming at the gait and balance disorder of the elderly with the increase of age and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a 6-DOF parallel platform. Based on the platform movement and IMU wearable sensors, two training modes, active and passive, have been developed to achieve vestibular stimulation. Virtual reality technology is also combined to achieve visual stimulation. In the active training mode, the elderly actively exercise to control the posture change of the platform and the switching of the virtual scene. In the passive training mode, the platform movement is combined with the virtual scene to simulate some bumpy environments such as earthquakes to enhance the human anti-interference ability. In order to achieve smooth switching of the scene, continuous speed and acceleration of the platform motion are required in some scenarios, in which trajectory planning algorithm is applied to meet the requirement. This paper expounds the application of trajectory planning algorithm in balance training mode.

scholarly journals Smart Wearable Sensors Based on Triboelectric Nanogenerator for Personal Healthcare Monitoring

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 352
Author(s):  
Ruonan Li ◽  
Xuelian Wei ◽  
Jiahui Xu ◽  
Junhuan Chen ◽  
Bin Li ◽  
...  
Keyword(s):  
Medical Care ◽  
Health Monitoring ◽  
Wearable Sensors ◽  
The Elderly ◽  
The Body ◽  
Assessment System ◽  
Triboelectric Nanogenerator ◽  
Personal Healthcare ◽  
Healthcare Monitoring ◽  
Smart Wearable

Accurate monitoring of motion and sleep states is critical for human health assessment, especially for a healthy life, early diagnosis of diseases, and medical care. In this work, a smart wearable sensor (SWS) based on a dual-channel triboelectric nanogenerator was presented for a real-time health monitoring system. The SWS can be worn on wrists, ankles, shoes, or other parts of the body and cloth, converting mechanical triggers into electrical output. By analyzing these signals, the SWS can precisely and constantly monitor and distinguish various motion states, including stepping, walking, running, and jumping. Based on the SWS, a fall-down alarm system and a sleep quality assessment system were constructed to provide personal healthcare monitoring and alert family members or doctors via communication devices. It is important for the healthy growth of the young and special patient groups, as well as for the health monitoring and medical care of the elderly and recovered patients. This work aimed to broaden the paths for remote biological movement status analysis and provide diversified perspectives for true-time and long-term health monitoring, simultaneously.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

Multisensory balance training for unsteady elderly people: A scoping review

2021 ◽  
pp. 1-9
Author(s):  
In-Gyu Yoo ◽  
Ji-Hye Do
Keyword(s):  
User Satisfaction ◽  
Web Of Science ◽  
Relevant Literature ◽  
Balance Training ◽  
The Elderly ◽  
Control Group ◽  
Training Methods ◽  
Multisensory Stimulation ◽  
Multisensory Training ◽  
Risk Of Falls

BACKGROUND: Posture control involves complex reactions of dynamic and static movements, and various sensory inputs. There is evidence that exercise using multisensory stimulation is moderately effective in improving the balance of the elderly. OBJECTIVE: The main purpose of this paper was to examine the existing literature to validate the effectiveness and applicability of multisensory stimulation training. METHODS: All relevant literature published as of June 1, 2020 in four prominent databases was searched (Embase, PubMed, PsycINFO, and Web of science) using the five-stage review framework proposed by Arksey and O’Malley. RESULTS: Multisensory stimulation training was more effective when vestibular and somatosensory were combined with visual stimuli, and differences in effectiveness compared to the effectiveness of existing treatments were confirmed. However, most of the reviewed papers are compared to simple strength training, and studies that compare the effects of multisensory stimulation training by setting a control group are still lacking. CONCLUSION: Further research is required to further elucidate the training conditions and treatment environment for multisensory training for the elderly at risk of falls and to provide strategies to improve treatment methods. In addition, a study that can evaluate user satisfaction in a way that best shows the treatment effect using qualitative research methods will be needed.

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

Postural control using a vibratory feedback system for balance training in the elderly

2008 ◽  
pp. 263-270
Author(s):  
T Ifukube ◽  
Y Oyama ◽  
S Shirogane ◽  
T Izumi ◽  
Y Maeda ◽  
...  
Keyword(s):  
Postural Control ◽  
Balance Training ◽  
Feedback System ◽  
The Elderly

Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator

2013 ◽  
Author(s):  
Evangelos Emmanouil ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Phase Change ◽  
Trajectory Planning ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Redundant Actuation ◽  
Planning Algorithm ◽  
Source Phase

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variable-axis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

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