Monographie

Force control theory and method of human load carrying exoskeleton suit / Zhiyong Yang, Wenjin Gu, Jing Zhang,... [et al.]

Type de contenu
  • Texte
Type de médiation
  • sans médiation
Type de support
  • Volume
Titre(s)
  • Force control theory and method of human load carrying exoskeleton suit / Zhiyong Yang, Wenjin Gu, Jing Zhang,... [et al.]
Publication
  • Berlin : Springer [Beijing] : National defense industry press
Date de copyright
  • C 2017
Description matérielle
  • 1 vol. (XV-218 p.) : ill., graph., photogr., tabl. ; 24 cm
ISBN
  • 978-3-662-57183-5
EAN
  • 9783662571835 br.
Classification décimale Dewey
  • 629.892
Note sur les bibliographies et les index
  • Bibliogr. en fin de chapitres
Note sur le contenu
  • 1.Introduction 1.1.Background 1.2.Development Status of Exoskeleton Suit 1.2.1.Abroad Development of Exoskeleton Suit 1.2.2.Domestic Development Status of Exoskeleton Suit 1.3.The State of the Art of the Research in Exoskeleton Suit Control Methods 1.3.1.Operator Control 1.3.2.Preprogrammed Control 1.3.3.Myoelectricity Control 1.3.4.Master-Slave Control 1.3.5.Force Feedback Control 1.3.6.Ground Reaction Force Control 1.3.7.ZMP Control 1.3.8.Sensitivity Amplification Control 1.4.Major Contents of the Book References 2.Model of Exoskeleton Suit 2.1.Introduction 2.2.Basic Description of Exoskeleton Suit 2.2.1.Mechanical Model of Exoskeleton Suit 2.2.2.Segment Properties of Exoskeleton Suit 2.2.3.Definition of Coordinate System 2.2.4.Partition of the Model 2.3.Kinematics Model of Exoskeleton Suit 2.3.1.Position and Orientation Description of Rigid Body 2.3.2.Kinematics Model Note continued: 2.4.Dynamics of Exoskeleton Suit 2.4.1.The Method of Dynamics Modeling 2.4.2.Modeling Procedures 2.4.3.Dynamics Model 2.4.4.Properties of the Model 2.5.Human-Machine Interaction Model References 3.Sensitivity Amplification Control of Exoskeleton Suit 3.1.Introduction 3.2.Sensitivity Amplification Control 3.2.1.1-DOF Exoskeleton Suit Without Actuation 3.2.2.1-DOF Exoskeleton Suit with Actuation 3.2.3.Sensitivity Amplification Control of Nonlinear System 3.2.4.Stability Analysis 3.2.5.Simulation Analysis 3.3.Sensitivity Amplification Control Based on Neural Network 3.3.1.Stability Analysis 3.3.2.Model Identification Using Neural Networks 3.3.3.Simulation Analysis References 4.Direct Force Control of Exoskeleton Suit 4.1.Introduction 4.2.Direct Force Control of Exoskeleton Suit 4.3.Stability Analysis 4.3.1.Spring Model 4.3.2.Spring Damping Model 4.3.3.Impedance Model Note continued: 4.4.Simulation 4.4.1.Human-Machine Interaction Model Parameter's Influence to Force 4.4.2.Load Varying's Influence to Force 4.4.3.Load Varying's Influence to Force Under PI Control References 5.Force Control of Exoskeleton Suit Based on Inner Position Loop 5.1.Introduction 5.2.Inner Position Loop 5.2.1.Inner Position Loop Based on the Static Model 5.2.2.Inner Position Loop Based on the Dynamic Model 5.3.Force Control Based on the Inner Position Loop 5.4.Simulation 5.4.1.Simulation of Inner Position Loop 5.4.2.Simulation of Force Control Based on the Inner Position Loop References 6.Impedance Control of Exoskeleton Suit 6.1.Introduction 6.2.Impedance Control of Exoskeleton Suit 6.3.Impedance Control Based on Tracking Differentiator 6.4.Simulation 6.4.1.Simulation of Impedance Control 6.4.2.Simulation of Impedance Control Based on Tracking Differentiator References Note continued: 7.Impedance Control of Exoskeleton Suit with Uncertainties 7.1.Introduction 7.2.Estimation of Neural Networks with Uncertainties 7.3.Stability Analysis 7.4.Simulation References 8.Exoskeleton Suit's Reference Trajectory Estimated Method Based on Neural Network 8.1.Introduction 8.2.Reference Trajectory Estimated Method Based on Neural Network 8.3.Simulation 8.3.1.Simulation Without Control 8.3.2.Simulation with Control References 9.Conclusions 9.1.Conclusions of Major Contents 9.2.Comparing and Analysis of the Control Method 9.3.Outlook
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