wellnair's impedance [9 articles]

Abstract

This research has explored the problems of moving through an environment while avoiding obstacles, approaching and stably contacting a surface in that environment, and applying force to the surface. To this end, a theoretical and experimental analysis of the following topics has been performed: explicit force and impedance control, impact control, and obstacle avoidance and approach with artificial potentials. The issue of force control has been addressed in two ways. First, a dynamic model of the manipulator / sensor / environment ...

Abstract

Die Stabilität von Systemen zur kinästhetischen Interaktion hängt wesentlich von den im Betrieb variierenden dynamischen Eigenschaften des Bedieners und der virtuellen Umgebung ab. In diesem Artikel werden die Stabilitätseigenschaften von Impedanz-, Admittanz- und Dreikanal-Regelungsarchitekturen mit Hilfe des Parameterraum-Verfahrens in Abhängigkeit von Bediener- und Umgebungssteifigkeit untersucht. Durch Einführen des Konzepts der Dualität im Parameterraum wird gezeigt, dass sich Dreikanal-Architekturen aufgrund ihrer komplementären Stabilitätseigenschaften besser für den Entwurf einer adaptiven strukturvariablen Regelung eignen, als das duale Impedanz-Admittanz-Architekturpaar. Experimentelle Untersuchungen mit einem als haptisches ...

Abstract

Robotic devices are helping shed light on human motor control in health and injury. By using robots to apply novel force fields to the arm, investigators are gaining insight into how the nervous system models its external dynamic environment. The nervous system builds internal models gradually by experience and uses them in combination with impedance and feedback control strategies. Internal models are robust to environmental and neural noise, generalized across space, implemented in multiple brain regions, and developed in childhood. Robots ...

Abstract

This paper studies the possible benefit that can be obtained by introducing variability into the robotic control of trajectories used to train hindlimb locomotion in adult spinal mice. The spinal cords of adult female Swiss- Webster mice were completely transected at a mid-thoracic level. Fourteen days post-transection, the spinal mice were robotically trained to step in the presence of a 5-HT agonist, quipazine, for a period of six weeks. In this pilot study nine animals were divided into three groups, each receiving a different control ...

Note (first note only)

Äusserst interessanter Artikel über Training von Mäusen mit Roboter. Dabei wurden unterschiedliche Methoden (feste Trajektorie, variable Trajektorie) ausprobiert. Die variablen Trajektorien führen zu besserer Laufleistung in den Tests.

Abstract

Robotic devices are helping shed light on human motor control in health and injury. By using robots to apply novel force fields to the arm, investigators are gaining insight into how the nervous system models its external dynamic environment. The nervous system builds internal models gradually by experience and uses them in combination with impedance and feedback control strategies. Internal models are robust to environmental and neural noise, generalized across space, implemented in multiple brain regions, and developed in childhood. Robots are also ...

Note (first note only)

Grundlagen-Artikel für Regelung, insbesondere die interne Regelung des Menschen von Armbewegungen mit Impedanzregelung und rückgekoppelter Regelung. Roboter helfen, diese Zusammenhänge zu verstehen.

Abstract

In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept. ...

Note (first note only)

Erweiterung der passiven Regelungsstrategie für Systeme mit mehr Freiheitsgraden (Beispiel: 6). Beispiel mit PHANTOM-Roboter und Wand.

Abstract

Task-oriented repetitive movements can improve muscular strength and movement coordination in patients with impairments due to neurological or orthopedic lesions. The application of robotics and automation technology can serve to assist, enhance, evaluate, and document neurological and orthopedic rehabilitation of the lower and upper extremities. This review presentation will give an overview of patient-cooperative techniques to the robot-aided gait rehabilitation of paralyzed patients. Patient-cooperative means that the technical system considers the patient intention and efforts rather than imposing any predefined movement ...

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Begründung, warum kooperative Regelungsstrategien mit dem Lokomaten generell Sinn machen

Abstract

In this paper an impedance control strategy is devised for a system of manipulators tightly grasping a common rigid object. In order to avoid internal loading at the object, a six-DOF impedance behaviour is imposed at each end-effector. Moreover, impedance control la also adopted to achieve a compliant behavior of the object when interaction with the external environment occurs. The overall control scheme is derived according to an inverse dynamics strategy with adoption of an inner motion loop for each manipulator, ...

Note (first note only)

Impedanzregelungsstrategie, endeffektorbasiert; für mich nicht ganz so relevant

Abstract

Zur Verbesserung des physiotherapeutischen Laufbandtrainings wurde seit 1996 der Lokomat entwickelt. Dabei handelt es sich um eine aktuierte Gangorthese, welche den Therapeuten bei der anstrengenden Arbeit entlastet. Dieser Lokomat wird bis dato mit Hilfe eines Standradreglers positionsgeregelt. Dies lässt keine Variation der Unterstützung der Beinbewegung des Patienten durch den Lokomat zu. Um das Training zu verbessern und individueller auf die Bedürfnisse des Patienten auch während des Trainings einzugehen, wurde in dieser Arbeit ein neues Regelungskonzept entwickelt und implementiert: eine hybride Regelungsarchitektur ...

Note (first note only)

Diplomarbeit, hybride Regelung (Impedanz, Admittanz) des Lokomat