The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations [0.03%]
一种迭代学习增益，用于优化踝足外骨骼的实时扭矩跟踪以适应步态变化中的行走任务
Juanjuan Zhang,Steven H Collins
Juanjuan Zhang
Lower-limb exoskeletons often use torque control to manipulate energy flow and ensure human safety. The accuracy of the applied torque greatly affects how well the motion is assisted and therefore improving it is always of interest. Feed-fo...
Cross Modal Few-Shot Contextual Transfer for Heterogenous Image Classification [0.03%]
跨模式Few-shot上下文迁移的异构图像分类方法研究
Zhikui Chen,Xu Zhang,Wei Huang et al.
Zhikui Chen et al.
Deep transfer learning aims at dealing with challenges in new tasks with insufficient samples. However, when it comes to few-shot learning scenarios, due to the low diversity of several known training samples, they are prone to be dominated...
Dynamic Task Allocation in Multi-Robot System Based on a Team Competition Model [0.03%]
基于团队竞赛模型的多机器人系统中的动态任务分配方法研究
Kai Jin,Pingzhong Tang,Shiteng Chen et al.
Kai Jin et al.
In recent years, it is a trend to integrate the ideas in game theory into the research of multi-robot system. In this paper, a team-competition model is proposed to solve a dynamic multi-robot task allocation problem. The allocation problem...
Exoskeleton Active Walking Assistance Control Framework Based on Frequency Adaptive Dynamics Movement Primitives [0.03%]
基于频率自适应动力学运动原型的外骨骼主动助行控制框架
Shiyin Qiu,Wei Guo,Fusheng Zha et al.
Shiyin Qiu et al.
This paper introduces a novel exoskeleton active walking assistance control framework based on frequency adaptive dynamics movement primitives (FADMPs). The FADMPs proposed in this paper is an online learning and prediction algorithm which ...
A New Hydrogen Sensor Fault Diagnosis Method Based on Transfer Learning With LeNet-5 [0.03%]
基于LeNet-5迁移学习的氢气传感器故障诊断方法
Yongyi Sun,Shuxia Liu,Tingting Zhao et al.
Yongyi Sun et al.
The fault safety monitoring of hydrogen sensors is very important for their practical application. The precondition of traditional machine learning methods for sensor fault diagnosis is that enough fault data with the same distribution and ...
Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation [0.03%]
一种用于步行康复的主动式缆索驱动机器人控制系统研发
Juan Fang,Michael Haldimann,Laura Marchal-Crespo et al.
Juan Fang et al.
In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlle...
Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control [0.03%]
基于模型预测控制的人臂策略再现及其对平衡恢复的贡献
Keli Shen,Ahmed Chemori,Mitsuhiro Hayashibe
Keli Shen
The study of human balance recovery strategies is important for human balance rehabilitation and humanoid robot balance control. To date, many efforts have been made to improve balance during quiet standing and walking motions. Arm usage (a...
Toward Hand Pattern Recognition in Assistive and Rehabilitation Robotics Using EMG and Kinematics [0.03%]
基于EMG和运动学的手模式识别在助肢及康复机器人中的应用研究
Hui Zhou,Qianqian Zhang,Mengjun Zhang et al.
Hui Zhou et al.
Wearable hand robots are becoming an attractive means in the facilitating of assistance with daily living and hand rehabilitation exercises for patients after stroke. Pattern recognition is a crucial step toward the development of wearable ...
Calibrating 3D Scanner in the Coordinate System of Optical Tracker for Image-To-Patient Registration [0.03%]
基于光学跟踪系统的图像到患者的配准的三维扫描校准
Wenjie Li,Jingfan Fan,Shaowen Li et al.
Wenjie Li et al.
Three-dimensional scanners have been widely applied in image-guided surgery (IGS) given its potential to solve the image-to-patient registration problem. How to perform a reliable calibration between a 3D scanner and an external tracker is ...
Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking [0.03%]
基于 tegotae 的控制产生双足行走的自适应步调和步态协调性
Dai Owaki,Shun-Ya Horikiri,Jun Nishii et al.
Dai Owaki et al.
Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply th...