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Control of Emulated MDOF Human Postural Balancing Systems
|關鍵字:||human body;人體平衡;balance;robust control;illusiveness;modeling;強健控制;暈眩;模型||出版社:||電機工程學系所||引用:|| J. E. Bos and W. Bles, “Theoretical consideration on canal-otolith interaction and an observer model,” Biological Cybernetics, Vol. 86, No. 3, pp. 191-207, 2002.  G. Liu and A. A. Goldenberg, “Robust control of robot manipulators incorporating motor dynamics,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and System, Yokohama, pp. 68-75, 1993.  C. L. Li, C. L. Lin and C. K. Chen, “Stabilizing postural control for emulated human balancing systems,” International Journal of Engineering Science, Vol. 46 No. 11, pp. 1120-1135, 2008.  B. Gio, F. Ric, V. Gab and C. M. Gio, “Task based kinematic design of a serial robot for the treatment of vestibular lithiasis,” in Proceedings of IEEE International Conference on Rehabilitation Robotics, Noordwijk, pp. 138-144, 2007  C. D. Santina, A. A. Migliaccio and A. H. Patel, “A multichannel semicircular canal neural prosthesis using electrical stimulation to restore 3-D vestibular sensation,” Transactions on Biomedical Engineering, Vol. 54, No. 6, pp. 1016-1030, 2007.  W. Gong and D. M. Merfeld, “System design and performance of a unilateral horizontal semicircular canal prosthesis,” Transactions on Biomedical Engineering, Vol. 49, No. 2, pp. 175-181, 2002.  T. Mergner and T. Rosemeier, “Interaction of vestibular, somatosensory and visual signals for postural control and motion perception under terrestrial and microgravity conditions a conceptual model,” Brain Research Reviews, Vol. 28, No. 1-2, pp. 118-135, 1998.  J. Jeka, K. S. Oie and T. Kiemel, “Multisensory information for human postural control: integrating touch and vision,” Experimental Brain Research, Vol. 134, No. 1, pp. 107-125, 2000.  G. Giaravella, C. Laschi and P. Dario, “Biomechanical modeling of semicircular canals for fabricating a biomimetic vestibular system,” in Proceedings of IEEE International Conference on Engineering in Medicine and Biology Society, New York, pp. 1758-1761, 2006.  C. H. Chiu, The Study of The Dynamic Modeling for The Support Phase in Running. PhD. Dissertation, National Taiwan Normal University,1999.  Lockheed Martin, http://www.lockheedmartin.com/products/hulc/index.html.  Wikipedia, http://en.wikipedia.org/wiki/HAL_5.  Cybernics Lab., http://sanlab.kz.tsukuba.ac.jp/english/member.php.  sina, http://news.sina.com/int/phoenixtv/105-103-102-101/2008-10-15/1325336 1103.html.  C. H. Chiu, Optimization of Human Motions. The Yee-Lee Book Company, Taiwan, 2006.  R. P. Paul, Robot Mathematics, Programming, and Control. The MIT Press, Massachusetts, 1981.  K. S. Fu, R. C. Gonzalez and C. S. G. Lee, Robotics: Control, Sensing, Vision, and Intelligence. The McGraw-Hill Companies, New York, 1987.  B. N. Saeed, Introduction to Robotics Analysis, Systems, Applications. The Prentice Hall Incorporation, New Jersey, 2001.  F. L. Lewis, C. T. Abdallah and D. M. Dawson, Control of Robot Manipulators. The Macmillan Publishers Limited, Wales, 1993.  F. L. Lewis and V.L. Syrmos, Optimal Control. The John Wiley and Sons Incorporation, New York, 1995.  C. H. Chiu, “The preliminary study of optimal planning for front chin-ups,” Journal of Medical and Biological Engineering, Vol. 25, No. 3, pp. 129-135, 2005.  V. Zatsiorsky and V. Seluyanov, “The mass and inertia characteristics of the main segments of the human body,” Biomechanics, Vol. V, No. IIIB, pp. 1152-1159, 1983.  Wikipedia, http://zh.wikipedia.org/w/index.php?title=%E4%B8%89%E6% AC%A1%E6%96%B9%E7%A8%8B&variant=zh-hant.  C. H. Chiu, “Simulation of positional center of gravity for different human motions,” Journal of Medical and Biological Engineering, Vol. 25, No. 3, pp. 123-128, 2005.||摘要:||
The analytical understanding and applications of human postural control could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, this research develops a two-stage feedback control law to remain the human body's upright posture under interference of the subjective verticals. First, the movement equations for a 24 DOFs body model is determined. There are two kinds of movement equations under consideration. One is a general movement equation and the other is the equation with uncertainties. The control law consists of two parts. The primary part is designed to track the desired reference trajectory and the secondary part is developed to compensate the effects of uncertainties and disturbances. It is hoped that the control theory could be used as a basis for posture control of intelligent humanoid robots in the future.
|Appears in Collections:||電機工程學系所|
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