An Automatic 3D Work Object Calibration Method Based on Hybrid 2D Image Vision

Huang, C. K.; Yang, Cheng-Ta; Hsu, Bi-Cheng; Lin, Yi‐Ying; Chen, C. H.

doi:10.18178/joace.8.1.20-25

Cited by 1 publication

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“…The driving torque, driving displacement and transmission accuracy are mainly affected by the transmission gap and tension force during the process of bowden cable transmission [10]. The exoskeleton studied in this paper uses a double bowden cable transmission system, and its transmission model is shown in Figure 2.…”

Section: Double Bowden Cable Transmission Systemmentioning

confidence: 99%

Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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In order to improve the flexibility and coordination of the exoskeleton robot, aiming at the problems of lower limb exoskeleton's poor adaptability to the external environment and poor humanmachine interaction, the human-machine interaction control technology of the lower limb exoskeleton system driven by flexible bowden cable is studied in this paper. Modeling the dynamics model of the lower limb exoskeleton system driven by double bowden cable, a neural network is used to identify the wearer's movement intentions on the basis of real-time control platform, and an adaptive impedance control strategy is designed to realize the human-machine dynamic coordination. The trajectory following of the exoskeleton is implemented by torque control, and the experiments of assisted walking at different speeds prove that the lower limb exoskeleton has good dynamic adjustment performance and can realize human-machine collaboration well. The evaluation experiment of the exoskeleton's auxiliary effect is carried out, and the EMG signals prove that the human-machine collaborative control algorithm has an auxiliary effect of 5.74%-9.73%.

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Section: Double Bowden Cable Transmission Systemmentioning

confidence: 99%

Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

View full text Add to dashboard Cite

show abstract

An Automatic 3D Work Object Calibration Method Based on Hybrid 2D Image Vision

Cited by 1 publication

References 0 publications

Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton

Design of Human-Machine Collaborative Control Algorithm for Lower Limb Exoskeleton

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