scholarly journals Rehabilitation Walker with Standing-Assistance Device

2007 ◽  
Vol 19 (6) ◽  
pp. 604-611 ◽  
Author(s):  
Daisuke Chugo ◽  
◽  
Wataru Matsuoka ◽  
Songmin Jia ◽  
Kunikatsu Takase
Keyword(s):  
Computer Simulation ◽  
Position Control ◽  
Low Cost ◽  
Key Concepts ◽  
Power Assistance

The walker with power assistance for standing we propose focuses on home use for those requiring daily assistance. Our key concepts involve (1) a new assistance manipulator with four parallel linkages using smaller actuators and rigid with lighter linkages than general manipulators, providing compact assistance at low cost; and (2) a combination of force and position control. Based on the user’s posture while standing, our proposed control selects appropriate control using the reference of standing based on typical standing by nursing specialists for realizing natural assistance. The conductance of our proposed assistance is verified by computer simulation and experiments using a prototype.

FORCE CONTROL OF A REHABILITATION WALKER FOR STANDING ASSISTANCE WITH STABILITY

2009 ◽  
Vol 06 (01) ◽  
pp. 47-60 ◽  
Author(s):  
DAISUKE CHUGO ◽  
KUNIKATSU TAKASE
Keyword(s):  
Control System ◽  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Daily Life ◽  
Low Cost ◽  
Assistance System ◽  
Aged People ◽  
Standing Up ◽  
Power Assistance

This paper proposes a walker system with power assistance device for standing-up motion. Our system focuses on family use for aged people who need nursing in their daily life. Our key ideas are based on two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages compared with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing-up, our control system selects more appropriate control method from them. Furthermore, the walker coordinates its assistance position and maintains the stable posture of the patient during standing assistance. We use the reference of standing-up motion which is based on the typical standing-up motion by a nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by experiments using our prototype.

scholarly journals A Nonlinear Magnetic Stabilization Control Design for an Externally Manipulated DC Motor: An Academic Low-Cost Experimental Platform

Machines ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 101
Author(s):  
Leonardo Acho
Keyword(s):  
Hall Effect ◽  
Position Control ◽  
Low Cost ◽  
Time Derivative ◽  
Control Design ◽  
Dc Motor ◽  
Flexible Beam ◽  
Experimental Platform ◽  
Hall Effect Sensor ◽  
Vibrational Control

The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor signal. Vibrational control is robust against model uncertainties. Hence, for control design, a simple mathematical model of a DC-Motor is invoked. Then, this controller is realized by utilizing analog electronics via operational amplifiers. In the experimental set-up, one extreme of a flexible beam attached to the motor shaft, and with a permanent magnet fixed on the other end, is constructed. Therefore, the control action consists of externally manipulating the flexible beam rotational position by driving a moveable Hall-effect sensor that is located facing the magnet. The experimental platform results in a low-priced device and is useful for teaching control and electronic topics. Experimental results are evidenced to support the main paper contribution.

scholarly journals Awheel Along Europe’s Rivers: Geoarchaeological Trails for Cycling Geotourists

2018 ◽  
Vol 10 (1) ◽  
pp. 413-440
Author(s):  
Thomas A. Hose
Keyword(s):  
Roman Empire ◽  
Case Studies ◽  
Low Cost ◽  
Stone Age ◽  
Key Concepts ◽  
Review Study ◽  
Loess Deposits ◽  
River Valleys ◽  
Major Cycle ◽  
Current Provision

AbstractThis review study presents an overview of the potential for the development of geoarchaeological trails for leisure cyclists in Europe. It initially defines and discusses the underpinning key concepts and then examines the nature and main needs of leisure cyclists. It considers and recognises appropriate geo-interpretative themes, of geological/geomorphological and archaeological/historical interest, to employ in developing the trails. Noting that river valleys have long been natural route-ways for human expansion into Europe (as exemplified by the ‘Stone Age’ and the Roman Empire), and that many of today’s major cycle trails are beside rivers with loess deposits, a geoarchaeological geotourism strategy is considered in relation to them. Case studies of specific sites, from central southern England, the Middle Danube and Middle Rhine valleys, outline the current provision and the basis of the proposed trails. Finally, a common relatively low-cost, mixed media, geo-interpretative and promotional approach could generate the impetus to further develop the strategy is suggested.

scholarly journals PERFORMANCE ASSESSMENT OF INTEGRATED SENSOR ORIENTATION WITH A LOW-COST GNSS RECEIVER

2017 ◽  
Vol IV-2/W3 ◽  
pp. 75-80 ◽  
Author(s):  
M. Rehak ◽  
J. Skaloud
Keyword(s):  
Position Control ◽  
Low Cost ◽  
Satellite System ◽  
Bundle Adjustment ◽  
Single Frequency ◽  
Reference Trajectory ◽  
Integrated Sensor ◽  
Homogeneous Surface ◽  
Gnss Receiver ◽  
Sensor Orientation

Mapping with Micro Aerial Vehicles (MAVs whose weight does not exceed 5&amp;thinsp;kg) is gaining importance in applications such as corridor mapping, road and pipeline inspections, or mapping of large areas with homogeneous surface structure, e.g. forest or agricultural fields. In these challenging scenarios, integrated sensor orientation (ISO) improves effectiveness and accuracy. Furthermore, in block geometry configurations, this mode of operation allows mapping without ground control points (GCPs). Accurate camera positions are traditionally determined by carrier-phase GNSS (Global Navigation Satellite System) positioning. However, such mode of positioning has strong requirements on receiver’s and antenna’s performance. In this article, we present a mapping project in which we employ a single-frequency, low-cost (<&amp;thinsp;$100) GNSS receiver on a MAV. The performance of the low-cost receiver is assessed by comparing its trajectory with a reference trajectory obtained by a survey-grade, multi-frequency GNSS receiver. In addition, the camera positions derived from these two trajectories are used as observations in bundle adjustment (BA) projects and mapping accuracy is evaluated at check points (ChP). Several BA scenarios are considered with absolute and relative aerial position control. Additionally, the presented experiments show the possibility of BA to determine a camera-antenna spatial offset, so-called lever-arm.

scholarly journals A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment

2020 ◽  
Author(s):  
Muhammad Bilal Khan
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Low Cost ◽  
Control Design ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Controlled Environment ◽  
Robot Design ◽  
Classroom Setting

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots&rsquo; design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot&rsquo;s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

Development of Low-Cost Wearable Servo Valve Using Buckled Tube Driven by Servo Motor

2013 ◽  
Vol 393 ◽  
pp. 532-537 ◽  
Author(s):  
Abdul Nasir ◽  
Tetsuya Akagi ◽  
Shujiro Dohta ◽  
Ayumu Ono ◽  
Yusuke Masago
Keyword(s):  
Control System ◽  
Flow Rate ◽  
Position Control ◽  
Low Cost ◽  
Control Valve ◽  
Artificial Muscle ◽  
Pneumatic Actuators ◽  
Servo Valve ◽  
Precise Control ◽  
Care Systems

Recently, power assisted nursing care systems have received much attention and those researches have been done actively. In such a control system, an actuator and a control valve are mounted on the human body. Designing the system, the size and weight of the valve become serious concerns. The purpose of our study is to develop a small-sized, lightweight and low-cost servo valve for precise control using wearable pneumatic actuators. In this study, a low-cost wearable servo valve that can control the output flow rate by changing the twisted angle of the buckled tube in the servo valve is proposed and tested. The position control system of McKibben rubber artificial muscle using tested valve and embedded controller is also proposed and tested. As a result, we confirmed that the tested servo valve can control the flow rate in both supply and exhaust in an analog way. In addition, the estimated cost of the proposed valve can be reduced about 100 times cheaper (10 US Dollar) compared with the typical servo valve.

scholarly journals A Computer Simulation for the Net Position Control of Midwater Trawl System.

2001 ◽  
Vol 67 (2) ◽  
pp. 226-230 ◽  
Author(s):  
Fuxiang Hu ◽  
Tadashi Tokai ◽  
Ko Matuda
Keyword(s):  
Computer Simulation ◽  
Position Control ◽  
Midwater Trawl
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