http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Load Carriage Effects on a Robotic Transtibial Prosthesis
Joseph Hitt,Thomas Sugar 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The purpose of this study was to investigate the kinetic and kinematic effects of load carriage while wearing a robotic transtibial prosthesis. Nine separate tests were conducted with a unilateral transtibial amputee test subject wearing the robotic foot-ankle prosthesis. The subject walked on a treadmill at 1.3 m/s with a back pack weighing 0 kg, 4.5 kg and 9 kg. Direct measurement of the kinematics and kinetics of the robotic prosthesis at varying loads and ankle joint stiffness using embedded sensors is presented. The test data suggest that the coping strategy for load carriage is one of kinetic variance and kinematic invariance for subjects using a powered, computer controlled foot-ankle prosthesis. The finding suggests that modulation of the spring stiffness as a function of load condition may reduce system energy expenditure by 10%.
Control Architectures for a Powered Ankle Foot Orthosis
Jeffrey Ward,Alex Boehler,Dosun Shin,Kevin Hollander,Thomas Sugar 동국대학교 정보융합기술원 2008 International Journal of Assistive Robotics and Sy Vol.9 No.2
In this paper, several control methods for a powered AFO are described and tested. As different as they are in their approach, each of them has certain advantages as well as disadvantages. A control concept that meets the unique requirements for ankle gait assistance is needed. One such approach is the dynamic pace controller. This controller adapts to the users’ gait speed. This is accomplished through time modulation and amplitude modulation of the reference command at the input side of the Robotic Tendon actuator. Additionally, a new stiffness-control model has been developed that divides the stance phase of gait into five zones using either velocity or stiffness control for each zone. The design and implementation of these new control algorithms as well as experimental results are presented.
Control Architectures for a Powered Ankle Foot Orthosis
Jeffrey Ward,Alex Boehler,Dosun Shin,Kevin Hollander,Thomas Sugar 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2008 International Journal of Assistive Robotics and Me Vol.9 No.2
In this paper, several control methods for a powered AFO are described and tested. As different as they are in their approach, each of them has certain advantages as well as disadvantages. A control concept that meets the unique requirements for ankle gait assistance is needed. One such approach is the dynamic pace controller. This controller adapts to the users" gait speed. This is accomplished through time modulation and amplitude modulation of the reference command at the input side of the Robotic Tendon actuator. Additionally, a new stiffness-control model has been developed that divides the stance phase of gait into five zones using either velocity or stiffness control for each zone. The design and implementation of these new control algorithms as well as experimental results are presented.