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RISS 인기검색어
- 검색키워드
- 저자 : Yacine Amirat (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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Huo, Weiguang,Mohammed, Samer,Amirat, Yacine,Kong, Kyoungchul IEEE 2018 IEEE TRANSACTIONS ON ROBOTICS Vol.34 No.4
<P>Gait modes, such as level walking, stair ascent/descent, and ramp ascent/descent, show different lower-limb kinematic and kinetic characteristics. Therefore, an accurate detection of these modes is critical for a wearable robot to provide appropriate power assistance. In this paper, a fast gait-mode-detection method based on a body sensor system is proposed. A fuzzy logic algorithm is used to estimate the likelihoods of gait modes in real time. Since the proposed fast gait mode detection makes it possible to select appropriate kinematic and kinetic models for each gait mode, assistive torques required for assisting the human motions can be obtained more naturally and immediately. The proposed methods are all verified by experiments with a lower-limb exoskeletal assistive robot with transparent actuation by series elastic actuators, called the exoskeletal robotic orthosis for walking assistance. Four healthy subjects participated in the experiments. All subjects were asked to perform different gait modes using their normal and simulated abnormal gaits, i.e., blocking the knee joint of one leg during walking. Latency and success rate of gait mode detection are selected as performance criteria. The effectiveness of the proposed gait-mode-based assistive strategy is evaluated using electromyography muscular activities.</P>
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A C5 Parallel Robot Identification and Control
Brahim Achili,Boubaker Daachi,Arab Ali-cherif,Yacine Amirat 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
The paper proposes a controller scheme based on a priori identification for a C5 parallel robot. First we realize the identification of dynamic parameters of the robot using the Least Squares technique. Different data are used for this step of identification. The cross validation permitted to select and confirm the identified parameters. After, a control scheme (computed torque) is applied to control the C5 parallel robot. The functions of this control scheme are based on precedent identified parameters. In order to reduce the effect of the identification error, we have added a robustness term based on sliding mode technique. The stability of the system in closed loop is presented using the Lyapunov principle. Experimental results of identification and control are presented and show the effectiveness of our methodology.
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Hybrid Moment/Position Control of a Parallel Robot
Mohamed El Hossine Daachi,Brahim Achili,Boubaker Daachi,Yacine Amirat,Djamel Chikouche 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.3
In this paper, a hybrid moment/position controller in task space is proposed for tasks involving a contact between a robot and its environment. We consider a contour-tracking task performed by a six DOF (Degrees Of Freedom) parallel robot. The task space dynamic model of the robot in contact with its environment, seen as a black box, is estimated by a MLP-NN (MultiLayer Perceptron Neural Network). The neural network non-linearity is treated using Taylor series expansion. An adaptation al-gorithm of the neural parameters resulting from a closed-loop stability analysis is proposed. The per-formance of the proposed controller is validated on the C5 parallel robot by considering two different environments: rigid and compliant.
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