Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Zhang, Xin; Li, Jiehao; Fan, Kebin; Chen, Ziyang; Hu, Zhenhuan; Yu, Yu

doi:10.3390/app10010125

Cited by 12 publications

(10 citation statements)

References 54 publications

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“…where Ω is the set of w. Combining Equations (27), (16), (25), and (10), the system error function can be attained:…”

Section: Adaptive Fuzzy Neural Network Compensatormentioning

confidence: 99%

“…In the prostheses mentioned above, the impedance-based finite-state control method is the most popular control scheme. Many teams have successfully implemented it [16][17][18]. For example, when it comes to the variable stiffness mechanisms, a new structure combined with the parallel redundant mechanisms and variable impedance actuator is presented in [19], where a stiffness and position control for two degrees of freedom (DOF) is achieved by three actuators with flexible elements.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory

et al. 2020

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Active prosthetic knees (APKs) are widely used in the past decades. However, it is still challenging to make them more natural and controllable because: (1) most existing APKs that use rigid actuators have difficulty obtaining more natural walking; and (2) traditional finite-state impedance control has difficulty adjusting parameters for different motions and users. In this paper, a flexible APK with a compact variable stiffness actuator (VSA) is designed for obtaining more flexible bionic characteristics. The VSA joint is implemented by two motors of different sizes, which connect the knee angle and the joint stiffness. Considering the complexity of prothetic lower limb control due to unknown APK dynamics, as well as strong coupling between biological joints and prosthetic joints, an adaptive robust force/position control method is designed for generating a desired gait trajectory of the prosthesis. It can operate without the explicit model of the system dynamics and multiple tuning parameters of different gaits. The proposed model-free scheme utilizes the time-delay estimation technique, sliding mode control, and fuzzy neural network to realize finite-time convergence and gait trajectory tracking. The virtual prototype of APK was established in ADAMS as a testing platform and compared with two traditional time-delay control schemes. Some demonstrations are illustrated, which show that the proposed method has superior tracking characteristics and stronger robustness under uncertain disturbances within the trajectory error in ± 0 . 5 degrees. The VSA joint can reduce energy consumption by adjusting stiffness appropriately. Furthermore, the feasibility of this method was verified in a human–machine hybrid control model.

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“…where Ω is the set of w. Combining Equations (27), (16), (25), and (10), the system error function can be attained:…”

Section: Adaptive Fuzzy Neural Network Compensatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory

et al. 2020

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“…The robot arms were set to autonomously follow surgical trajectories with five different shapes, a straight line, an angle, a sine curve, a semicircle, and a helix, to demonstrate and evaluate its versatility. (25,26) These shapes are directly related to the usual trajectory performed in MIS suturing and knot-tying techniques, (27)(28)(29) as shown in Fig. 4.…”

Section: Experimental Validationmentioning

confidence: 99%

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries

Su¹,

Schmirander²,

Valderrama-Hincapie³

et al. 2020

Sensors and Materials

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Keywords: bimanual control, minimally invasive surgery, radial basis function neural network, redundant manipulator, remote center of motion Robotic assistance is promising for improving minimally invasive surgery (MIS). This work presents asymmetric bimanual control of a dual-arm serial robot with two remote centers of motion (RCMs) constraints for MIS. In our previous works, general null space controllers to guarantee the fixed RCM constraint have been proposed. However, an incision on a patient's abdominal wall is not fixed owing to the respiration of the patient, which generates an uncertain disturbance at the joints of robotic manipulators. To improve accuracy, a radial basis function neural network is implemented to adapt to these disturbances and control the end-effector position. Finally, the adaptive bimanual control strategy is validated through simulations based on clinical data. The proposed control shows improved accuracy in the end effector position for all the designed surgical tasks. In future works, the algorithm will be validated on an actual dual-arm serial robot making use of a body phantom. China University of Technology, Guangzhou, China, in 2017. She is currently pursuing a Ph.D. degree at the Department of Mechanics, KTH Royal Institute of Technology, Stockholm, Sweden, working on robotic exoskeletons for patients with motor disorders. Her main research interests include human movement simulation, strategies, consequences, assistance for patients with motor disorders, and adaptive control. (longbin@kth.se) Yingbai Hu received his M.S. degree in control engineering from South

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“…In this context, philosophies such as the theory of inventive problem solving (TRIZ) have gained relevance by allowing their users to access methods that enable them to solve difficult technical problems, and in need of consistent and structured creative solutions [9]. These characteristics disassociate the process of innovation or problem solving from the idea that they only occur in moments of inspiration, allowing for dynamic management and active planning [10]. Multinational companies such as Samsung, Ford, and Siemens have already shown positive results in the application of TRIZ, as well as small and medium-sized enterprises (SME) in Europe and the United States, demonstrating that there are advantages resulting from its use [11].…”

Section: Introductionmentioning

confidence: 99%

A Combined Use of TRIZ Methodology and Eco-Compass tool as a Sustainable Innovation Model

et al. 2020

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In recent years, there has been an increase in the adoption of quality tools by companies. As such, there has been a commitment to innovation by the organizations to obtain competitive advantages by the development of new products and technologies focused on the creation of economic value but also on delivering sustainability. This study aims to develop an application model of the inventive resolution theory in conjunction with the Eco-Compass ecological innovation tool, in order to allow solutions to be obtained systematically, and to present a performance increase of certain environmental parameters, promoting thus sustainable innovation. The case study research methodology is used to frame the research. The company under study is Nokia enterprise, located in Portugal, which offers a set of services related to telecommunications infrastructures. The unit of analysis is the department of transformation and continuous improvement, and the study illustrated the application of combined use of theory of inventive problem solving (TRIZ) and Eco-compass to develop innovative solutions systematically. The results show that it is possible to achieve innovation according to a certain level of established sustainable environmental parameters, while at the same time solving the identified inventive problem.

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Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Cited by 12 publications

References 54 publications

Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory

Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries

A Combined Use of TRIZ Methodology and Eco-Compass tool as a Sustainable Innovation Model

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