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基于FA-DWA融合算法的人体运动机器人移动路径优化研究
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作者 骞虎 《自动化与仪器仪表》 2024年第8期219-222,227,共5页
为进一步提升人体运动机器人移动过程中的路径规划质量,提出一种基于改进萤火虫算法融合动态窗口(iFA-DWA)算法的人体运动机器人移动路径规划方法。其中,以萤火虫算法作为基础的全局路径规划算法,并对其进行进一步改进,再以动态窗口算... 为进一步提升人体运动机器人移动过程中的路径规划质量,提出一种基于改进萤火虫算法融合动态窗口(iFA-DWA)算法的人体运动机器人移动路径规划方法。其中,以萤火虫算法作为基础的全局路径规划算法,并对其进行进一步改进,再以动态窗口算法作为局部路径规划算法,最后将两个算法进行融合,进一步提升路径规划质量。实验结果表明,与传统的全局路径规划算法相比,iFA-DWA融合算法能够得到更优的移动路径,路径长度更短,整体规划效果良好;在实际的路径规划测试中,基于iFA-DWA融合算法的路径规划方法所规划的路径质量最佳,算法运行时间较短,同时还能够对路径中的未知障碍进行有效躲避。综合,构建的基于iFA-DWA融合算法的路径规划方法性能良好,能够进行质量较高的路径规划,将其应用于人体运动机器人的路径规划时能够对移动过程进行有效优化,可行性较高。 展开更多
关键词 人体运动机器人 路径规划 萤火虫算法 动态窗口算法
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Flexible PDMS-based triboelectric nanogenerator for instantaneous force sensing and human joint movement monitoring 被引量:21
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作者 Junbin Yu Xiaojuan Hou +5 位作者 Min Cui Shuzheng Shi Jian He Yawei Sun Chao Wang Xiujian Chou 《Science China Materials》 SCIE EI CSCD 2019年第10期1423-1432,共10页
Flexible wearable sensors with excellent electric response and self-powered capability have become an appealing hotspot for personal healthcare and human-machine interfaces.Here,based on triboelectric nanogenerator(TE... Flexible wearable sensors with excellent electric response and self-powered capability have become an appealing hotspot for personal healthcare and human-machine interfaces.Here,based on triboelectric nanogenerator(TENG),a flexible self-powered tactile sensor composed of micro-frustum-arrays-structured polydimethylsiloxane(PDMS)film/copper(Cu)electrodes,and poly(vinylidenefluoride-trifluoroethylene)(P(VDF-TrFE))nanofibers has been demonstrated.The TENG-based self-powered tactile sensor can generate electrical signals through the contact-separation process of two triboelectric layers under external mechanical stimuli.Due to the uniform and controllable micro-frustum-arrays structure fabricated by micro-electro-mechanical system(MEMS)process and the P(VDF-TrFE)nanofibers fabricated by electrostatic spinning,the flexible PDMS-based sensor presents high sensitivity of 2.97 V kPa^-1,stability of 40,000 cycles(no significant decay),response time of 60 ms at 1 Hz,low detection pressure of a water drop(~4 Pa,35 mg)and good linearity of 0.99231 in low pressure region.Since the PDMS film presents ultra-flexibility and excellent-biocompatibility,the sensor can be comfortably attached on human body.Furthermore,the tactile sensor can recognize various types of human body movements by the corresponding electrical signals.Therefore,the as-prepared TENGs are potential on the prospects of gesture detection,health assessment,human-machine interfaces and so on. 展开更多
关键词 SELF-POWERED triboelectric nanogenerator wearable sensor MEMS process personal healthcare
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