Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
农村地区之间存在着显著的地区差异,为了指导农村电网投资,提出一种基于组合赋权和多属性边界逼近区域比较法(multi-attributive border approximation area comparison,MABAC)的差异化农网综合效益评价模型。首先,综合考虑农村地区差...农村地区之间存在着显著的地区差异,为了指导农村电网投资,提出一种基于组合赋权和多属性边界逼近区域比较法(multi-attributive border approximation area comparison,MABAC)的差异化农网综合效益评价模型。首先,综合考虑农村地区差异及乡村振兴战略对农网发展的要求,从农网投资经济效益、供电能力、基础设施情况、地区发展带动、生产生活质量、清洁低碳发展等6个方面构建农网综合效益评价指标体系;其次,基于最小化主客观权重异质性原则构建基于图模型—熵权法的组合赋权模型,并引入MABAC方法用于解决农网综合效益评价问题;最后,通过算例分析验证了所提出模型的有效性。展开更多
基金Acknowledgements： This work was supported by the Foundations of Post Doctor of China （No. 20060401001） and by the Science Research Projects of Ministry of Education of China （No. 06JA630056） and by the Natural Science Foundations of Ningxia （No. NZ0848）.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
文摘农村地区之间存在着显著的地区差异,为了指导农村电网投资,提出一种基于组合赋权和多属性边界逼近区域比较法(multi-attributive border approximation area comparison,MABAC)的差异化农网综合效益评价模型。首先,综合考虑农村地区差异及乡村振兴战略对农网发展的要求,从农网投资经济效益、供电能力、基础设施情况、地区发展带动、生产生活质量、清洁低碳发展等6个方面构建农网综合效益评价指标体系;其次,基于最小化主客观权重异质性原则构建基于图模型—熵权法的组合赋权模型,并引入MABAC方法用于解决农网综合效益评价问题;最后,通过算例分析验证了所提出模型的有效性。
