This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is des...This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.展开更多
A wearable body area sensor network(WBASN) was designed and implemented to monitor movement information of stroke patients in real time. The sensor system was combined with a previously developed distributed functiona...A wearable body area sensor network(WBASN) was designed and implemented to monitor movement information of stroke patients in real time. The sensor system was combined with a previously developed distributed functional electrical stimulation(d FES) system, which is a promising technology for motor rehabilitation of stroke patients. Movement information could be useful in outcome assessment of rehabilitation, or for closed-loop adaptive stimulation during rehabilitation. In addition,a short-latency, low-power communication protocol was developed to meet the clinical requirements of energy efficiency and high rate of data feed-through. The prototype of the WBASN was tested in preliminary human experiments. Experimental results demonstrate the feasibility of the proposed wearable body area sensor network in monitoring arm movements on healthy subjects.展开更多
基金Supported by the National Natural Science Foundation of China （60875055）, the Program for New Century Excellent Talents in University （NCET-06- 0210） and the Natural Science Foundation of Tianjin （08JCZDJC21800）.
文摘This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.
基金National Natural Science Foundation of Chinagrant number:31070749,81271684+2 种基金National Basic Research Program of Chinagrant number:2011CB013304Translational Medicine Research Grant of Project 985III from School of Medicine of SJTU
文摘A wearable body area sensor network(WBASN) was designed and implemented to monitor movement information of stroke patients in real time. The sensor system was combined with a previously developed distributed functional electrical stimulation(d FES) system, which is a promising technology for motor rehabilitation of stroke patients. Movement information could be useful in outcome assessment of rehabilitation, or for closed-loop adaptive stimulation during rehabilitation. In addition,a short-latency, low-power communication protocol was developed to meet the clinical requirements of energy efficiency and high rate of data feed-through. The prototype of the WBASN was tested in preliminary human experiments. Experimental results demonstrate the feasibility of the proposed wearable body area sensor network in monitoring arm movements on healthy subjects.
