http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Improved Velocity Feedback for Position Control by Using a Quadratic Sliding Mode Filter
Shanhai Jin,Ryo Kikuuwe,Motoji Yamamoto 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In low-friction position-controlled devices, velocity feedback is required for a proportional-derivative (PD) controller to inject damping into these devices to remove low-frequency vibration. It is known that, in the case of using low resolution sensors, the velocity obtained through numerical differentiation is corrupted by high-frequency noise. Thus, the use of a PD controller results in high-frequency vibration in position control of devices of which sensor resolution and friction are both low. In previous papers, the authors proposed a new quadratic sliding mode filter. In this paper, we present experimental results to show the usefulness of this filter in position control of low-sensor-resolution, low-friction devices to improve velocity feedback.
Shanhai Jin,Shijie Guo,Kazunobu Hashimoto,Motoji Yamamoto 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper experimentally evaluates the effects of a soft wearable robotic suit, which is developed for energyefficient walking in daily activities, in healthy subjects. The robotic suit provides a small but effective assistance for hip flexion. Moreover, it is lightweight and it does not restrict the motion range of the lower limbs. Experimental results on two healthy subjects show that the robotic suit worn and powered on (PON) reduced oxygen uptake by an average of 3.6 % compared with the condition of worn but powered off (POFF). Moreover, compared with the POFF condition, walk ratio was improved by an average of 2.6 % in the PON condition.