Aiming at the optimization design of high frequency transformer in low-voltage high-current power electronic converter, the volume and efficiency of high frequency transformer are taken as the optimization objectives, the calculation methods of magnetic core and winding loss of high frequency transformer are analyzed. On this basis, a two dimensional optimization model is established with saturated magnetic induction intensity and current density as optimization variables. Genetic algorithm has certain advantages in solving nonlinear multiobjective optimization problems. In this paper, NSGA-II algorithm is used to optimize the design of high frequency transformers with ferrite, amorphous alloy and nanocrystalline core materials. By comparing the optimization parameters of the simulation results, the superiority of nanocrystalline materials in the design of high frequency transformer is verified, due to its high saturation magnetic induction strength and high permeability, nanocrystalline materials have better comprehensive performance than ferrite and amorphous alloy materials in high-frequency and high power applications.
{"title":"Multiobjective optimization design of high frequency transformer based on NSGA-II algorithm","authors":"Chunjie Wang, Wenkai Han, Peng Chen, Jinchuan Song, Songwei Yuan","doi":"10.1109/ICMA54519.2022.9856127","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856127","url":null,"abstract":"Aiming at the optimization design of high frequency transformer in low-voltage high-current power electronic converter, the volume and efficiency of high frequency transformer are taken as the optimization objectives, the calculation methods of magnetic core and winding loss of high frequency transformer are analyzed. On this basis, a two dimensional optimization model is established with saturated magnetic induction intensity and current density as optimization variables. Genetic algorithm has certain advantages in solving nonlinear multiobjective optimization problems. In this paper, NSGA-II algorithm is used to optimize the design of high frequency transformers with ferrite, amorphous alloy and nanocrystalline core materials. By comparing the optimization parameters of the simulation results, the superiority of nanocrystalline materials in the design of high frequency transformer is verified, due to its high saturation magnetic induction strength and high permeability, nanocrystalline materials have better comprehensive performance than ferrite and amorphous alloy materials in high-frequency and high power applications.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116195862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855935
Lei Sun, Ke Shi
We propose a new model for colorizing grayscale images with a U-Net-like network structure that focus on the connection between global and local features. A novel skip connection method is adopted to change the way information flows, which incorporating multi-scale feature information. This enables us to obtain more common features of encoding and decoding layers. Low-level detail features and high-level location features are exactly the semantic information we need. We argue that these semantic information plays an important role in the model’s learning of colorization tasks. When there is as much similar semantic information as possible from the decoder and encoder networks, the network will handle easier learning tasks. The proposed model architecture is evaluated on a large dataset for gray image colorization. Experimental results show that our model improve the coloring performance.
{"title":"Image Colorization with Dense Feature Fusion","authors":"Lei Sun, Ke Shi","doi":"10.1109/ICMA54519.2022.9855935","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855935","url":null,"abstract":"We propose a new model for colorizing grayscale images with a U-Net-like network structure that focus on the connection between global and local features. A novel skip connection method is adopted to change the way information flows, which incorporating multi-scale feature information. This enables us to obtain more common features of encoding and decoding layers. Low-level detail features and high-level location features are exactly the semantic information we need. We argue that these semantic information plays an important role in the model’s learning of colorization tasks. When there is as much similar semantic information as possible from the decoder and encoder networks, the network will handle easier learning tasks. The proposed model architecture is evaluated on a large dataset for gray image colorization. Experimental results show that our model improve the coloring performance.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116797462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856299
Guang Yang, Shuoyu Wang, Junyou Yang, Peng Shi
In current navigation systems, path planning is performed on a grid map considering the presence of obstacles in the environment. Although this approach can produce collision-free paths, its performance cannot be guaranteed in dynamic, human-centered environments. The reason for this is that more factors need to be considered, including people’s perceptions, than simply ensuring that one gets from one place to another without colliding with an obstacle. Therefore, the ideal map should be able to manage various types of semantic information in a flexible manner, in addition to tracking obstacles. We propose a multi-group map based on a multi-layer map, which is characterized by allowing the layers to store multiple types of information and be flexibly combined to produce multiple sub-maps that can provide references for semantic navigation. The proposed map has been evaluated through simulation to determine its potential to contribute to the creation of semantic navigation behaviors.
{"title":"Multi-Grouped Grid Map for Semantic-Aware Motion Planning of Mobile Robots","authors":"Guang Yang, Shuoyu Wang, Junyou Yang, Peng Shi","doi":"10.1109/ICMA54519.2022.9856299","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856299","url":null,"abstract":"In current navigation systems, path planning is performed on a grid map considering the presence of obstacles in the environment. Although this approach can produce collision-free paths, its performance cannot be guaranteed in dynamic, human-centered environments. The reason for this is that more factors need to be considered, including people’s perceptions, than simply ensuring that one gets from one place to another without colliding with an obstacle. Therefore, the ideal map should be able to manage various types of semantic information in a flexible manner, in addition to tracking obstacles. We propose a multi-group map based on a multi-layer map, which is characterized by allowing the layers to store multiple types of information and be flexibly combined to produce multiple sub-maps that can provide references for semantic navigation. The proposed map has been evaluated through simulation to determine its potential to contribute to the creation of semantic navigation behaviors.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116938025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856391
Ao Li, Shuxiang Guo, Liwei Shi, Meng Liu, Mugen Zhou, He Yin
During the underwater movement of underwater robot, a large part of interference comes from the interaction between robot and water flow. In order to control the underwater robot accurately, it is very important to study the hydrodynamic characteristics of the robot. In this paper, the hydrodynamic characteristics about two kinds of underwater robots (spherical and fish-shaped robot) are studied according the application. Firstly, the hydrodynamic characteristics of the two shapes are studied by the qualitative analysis of velocity field and pressure field. Then, by changing the speed and volume of the robot, the drag resistance force of the robot is further quantitatively analyzed. These obtained characteristics can be used to guide the application of flow rate sensing and pressure sensing on underwater robots.
{"title":"Comparison of Spherical and Fish-shaped Robots on Hydrodynamic and Pressure Characteristics in Static Water","authors":"Ao Li, Shuxiang Guo, Liwei Shi, Meng Liu, Mugen Zhou, He Yin","doi":"10.1109/ICMA54519.2022.9856391","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856391","url":null,"abstract":"During the underwater movement of underwater robot, a large part of interference comes from the interaction between robot and water flow. In order to control the underwater robot accurately, it is very important to study the hydrodynamic characteristics of the robot. In this paper, the hydrodynamic characteristics about two kinds of underwater robots (spherical and fish-shaped robot) are studied according the application. Firstly, the hydrodynamic characteristics of the two shapes are studied by the qualitative analysis of velocity field and pressure field. Then, by changing the speed and volume of the robot, the drag resistance force of the robot is further quantitatively analyzed. These obtained characteristics can be used to guide the application of flow rate sensing and pressure sensing on underwater robots.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114845096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856173
Wang Xu, Jiazhen Chen, Bin Wang, Y. Guan, T. Zhang
This paper proposes a heat source analysis method to calculate the heat loss generated by SCARA robots during operation. The heat dissipation power of the robot is determined by empirical formula and robot energy consumption. The thermal model of SCARA robots was established by using the finite element method in COMSOL, and the steady-state temperature and heat dissipation path of SCARA robots were obtained by solving the finite element model. It was concluded that the temperature at axis Jl of a SCARA robot was the highest, and the temperature diffused in the center of axis Jl. The effect of surface convection velocity on the steady-state temperature of SCARA robots is studied. The results show that the increase of surface convection velocity can effectively reduce the temperature of the robot at high temperature.
{"title":"Thermal Modeling Analysis of SCARA Robots","authors":"Wang Xu, Jiazhen Chen, Bin Wang, Y. Guan, T. Zhang","doi":"10.1109/ICMA54519.2022.9856173","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856173","url":null,"abstract":"This paper proposes a heat source analysis method to calculate the heat loss generated by SCARA robots during operation. The heat dissipation power of the robot is determined by empirical formula and robot energy consumption. The thermal model of SCARA robots was established by using the finite element method in COMSOL, and the steady-state temperature and heat dissipation path of SCARA robots were obtained by solving the finite element model. It was concluded that the temperature at axis Jl of a SCARA robot was the highest, and the temperature diffused in the center of axis Jl. The effect of surface convection velocity on the steady-state temperature of SCARA robots is studied. The results show that the increase of surface convection velocity can effectively reduce the temperature of the robot at high temperature.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124148656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855993
Haobo Wang, Lianwu Guan, Xilin Yu, Zibin Zhang
At present, most of the visual Simultaneous Localization and Mapping (SLAM) systems rely on the surrounding point features to achieve acceptable localization and mapping. However, the number of point features is insufficient in the low-texture environments, so the performance of these SLAM systems will be significantly reduced. In this research, a PLISLAM system that integrates point features, line features and Inertial Measurement Unit (IMU) is proposed to implement high-precision positioning and mapping for dynamic vehicles. Specifically, a state-of-the-art SLAM scheme ORBSLAM3 is built at first. Then, its theoretical formulation is derived step by step to handle the environmental line features and the Bundle Adjustment (BA) is integrated to optimize the data. Finally, the system performance is verified through the EuRoC dataset, the results demonstrate its accuracy could be improved by adding the line features especially in scenes with rich line features.
{"title":"PL-ISLAM: an Accurate Monocular Visual-Inertial SLAM with Point and Line Features","authors":"Haobo Wang, Lianwu Guan, Xilin Yu, Zibin Zhang","doi":"10.1109/ICMA54519.2022.9855993","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855993","url":null,"abstract":"At present, most of the visual Simultaneous Localization and Mapping (SLAM) systems rely on the surrounding point features to achieve acceptable localization and mapping. However, the number of point features is insufficient in the low-texture environments, so the performance of these SLAM systems will be significantly reduced. In this research, a PLISLAM system that integrates point features, line features and Inertial Measurement Unit (IMU) is proposed to implement high-precision positioning and mapping for dynamic vehicles. Specifically, a state-of-the-art SLAM scheme ORBSLAM3 is built at first. Then, its theoretical formulation is derived step by step to handle the environmental line features and the Bundle Adjustment (BA) is integrated to optimize the data. Finally, the system performance is verified through the EuRoC dataset, the results demonstrate its accuracy could be improved by adding the line features especially in scenes with rich line features.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"289 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124160537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856070
Cheng-peng Yu, Bin Li, Jiaqi Zhu
In this paper, the kinematics of the 3-RRPS parallel mechanism was deeply studied, and the kinematics mathematical model of the parallel mechanism was obtained by using the method of coordinate system transformation. The inverse solution of the parallel mechanism pose was obtained by solving this equation, and the nonlinear equation was obtained from the inverse solution. The forward solution of the attitude of the parallel mechanism was calculated by solving this nonlinear equation with Jacobian matrix and Newton iterative algorithm, which is an approximate solution. Finally, we verified the correctness of the forward kinematics solution through MATLAB.
{"title":"Kinematics Analysis of 3-RRPS Parallel Mechanism","authors":"Cheng-peng Yu, Bin Li, Jiaqi Zhu","doi":"10.1109/ICMA54519.2022.9856070","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856070","url":null,"abstract":"In this paper, the kinematics of the 3-RRPS parallel mechanism was deeply studied, and the kinematics mathematical model of the parallel mechanism was obtained by using the method of coordinate system transformation. The inverse solution of the parallel mechanism pose was obtained by solving this equation, and the nonlinear equation was obtained from the inverse solution. The forward solution of the attitude of the parallel mechanism was calculated by solving this nonlinear equation with Jacobian matrix and Newton iterative algorithm, which is an approximate solution. Finally, we verified the correctness of the forward kinematics solution through MATLAB.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130284824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856156
Ran Wang, Jian Guo, Shuxiang Guo, Qiang Fu, Jigang Xu
With the development of robot technology, the research of multi-robot cooperative target search in the military field mainly focuses on avoiding obstacles while surrounding the target, but most of the object-oriented research is a single robot and a single obstacle. In view of the object - oriented simplicity, this paper uses robot cluster to avoid multiple obstacles. Artificial potential field algorithm is widely used in the field of robot obstacle avoidance because of its simple structure, small amount of computation and good real-time performance. But in actual use in the artificial potential field algorithm has certain defects, mainly includes the target unreachable problem and local minimum value problems, by improving the traditional artificial potential field algorithm, this study so as to improve the artificial potential field algorithm when use the deficiencies, in order to improve the artificial potential field algorithm when the mobile robot to round up the target of obstacle avoidance. Finally, the simulation results show that the improved artificial potential field method can solve the problems of local minimum and unreachable target, and has good dynamic obstacle avoidance ability. This method ensures the reliability of spherical robot group and improves the efficiency of multi-robot group.
{"title":"Cooperative Hunting of Spherical Multi-robots based on Improved Artificial Potential Field Method","authors":"Ran Wang, Jian Guo, Shuxiang Guo, Qiang Fu, Jigang Xu","doi":"10.1109/ICMA54519.2022.9856156","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856156","url":null,"abstract":"With the development of robot technology, the research of multi-robot cooperative target search in the military field mainly focuses on avoiding obstacles while surrounding the target, but most of the object-oriented research is a single robot and a single obstacle. In view of the object - oriented simplicity, this paper uses robot cluster to avoid multiple obstacles. Artificial potential field algorithm is widely used in the field of robot obstacle avoidance because of its simple structure, small amount of computation and good real-time performance. But in actual use in the artificial potential field algorithm has certain defects, mainly includes the target unreachable problem and local minimum value problems, by improving the traditional artificial potential field algorithm, this study so as to improve the artificial potential field algorithm when use the deficiencies, in order to improve the artificial potential field algorithm when the mobile robot to round up the target of obstacle avoidance. Finally, the simulation results show that the improved artificial potential field method can solve the problems of local minimum and unreachable target, and has good dynamic obstacle avoidance ability. This method ensures the reliability of spherical robot group and improves the efficiency of multi-robot group.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129716958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855934
Ziyi Yang, Shuxiang Guo
The variable stiffness actuator (VSA) can be integrated into the robotics to improve the inherent compliance characteristics of robotics for the safe physical human robot interaction (pHRI). The output stiffness of the VSA is excepted to be independently controllable during the rehabilitation training processing. Furthermore, the motion and stiffness control of VSA can be independently controlled by VSA for rehabilitation application scenario. In this paper, a hybrid motion stiffness control strategy for achieving assist-as-needed control and suitable patient-robot interaction was proposed utilizing the compliance characteristic of VSA. The elbow joint output stiffness could be adjusted by a linear mapping method to obtain controllable assistant level, which is based on the real-time bilateral position tracking error. It is noted that the linear mapping scaler could be regulated for different patient injury-levels. The preliminary experimental results show that the proposed method can adjust the elbow joint stiffness for patients according to the real-time bilateral position errors.
{"title":"A Hybrid Motion Stiffness Control of Variable Stiffness Actuator for Upper Limb Elbow Joints Rehabilitation","authors":"Ziyi Yang, Shuxiang Guo","doi":"10.1109/ICMA54519.2022.9855934","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855934","url":null,"abstract":"The variable stiffness actuator (VSA) can be integrated into the robotics to improve the inherent compliance characteristics of robotics for the safe physical human robot interaction (pHRI). The output stiffness of the VSA is excepted to be independently controllable during the rehabilitation training processing. Furthermore, the motion and stiffness control of VSA can be independently controlled by VSA for rehabilitation application scenario. In this paper, a hybrid motion stiffness control strategy for achieving assist-as-needed control and suitable patient-robot interaction was proposed utilizing the compliance characteristic of VSA. The elbow joint output stiffness could be adjusted by a linear mapping method to obtain controllable assistant level, which is based on the real-time bilateral position tracking error. It is noted that the linear mapping scaler could be regulated for different patient injury-levels. The preliminary experimental results show that the proposed method can adjust the elbow joint stiffness for patients according to the real-time bilateral position errors.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128641602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856355
Yunde Shi, Mingqiu Guo, Ruiyang Wang, Dan Xia, Xiang Luo, Xiaoqiang Ji, Yuan Yang
This paper conducts the study on the dynamic modeling and simulation of a lower limb exoskeleton with the human subject in the loop. Lagrangian method is used for the theoretical derivation and formulation of the dynamics of the synergetic human-exoskeleton system. The standing-up motion of the human subject from a chair is simulated for demonstration in MSC ADAMS software. The associated joint angles of both the human subject and exoskeleton robot are recorded and compared for studying the synergetic effect between the human subject and exoskeleton robot. The simulation results show that there are certain amount of motion discrepancy between the human subject and lower limb exoskeleton during operation, which makes accurate control difficult and could even lead to possible unbalance of the entire human-exoskeleton system.
{"title":"Modeling and Synergetic Simulation of a Lower Limb Exoskeleton Robot With the Human Subject","authors":"Yunde Shi, Mingqiu Guo, Ruiyang Wang, Dan Xia, Xiang Luo, Xiaoqiang Ji, Yuan Yang","doi":"10.1109/ICMA54519.2022.9856355","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856355","url":null,"abstract":"This paper conducts the study on the dynamic modeling and simulation of a lower limb exoskeleton with the human subject in the loop. Lagrangian method is used for the theoretical derivation and formulation of the dynamics of the synergetic human-exoskeleton system. The standing-up motion of the human subject from a chair is simulated for demonstration in MSC ADAMS software. The associated joint angles of both the human subject and exoskeleton robot are recorded and compared for studying the synergetic effect between the human subject and exoskeleton robot. The simulation results show that there are certain amount of motion discrepancy between the human subject and lower limb exoskeleton during operation, which makes accurate control difficult and could even lead to possible unbalance of the entire human-exoskeleton system.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128102658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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