Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856329
Ling Li, Qiang Fu, Haoran Han, Yi Zhang
Ships tend to roll at sea under the influence of wind and waves, and there is a lot of recoverable mechanical energy in rolling motion. To collect the energy generated by waves, design an energy recovery device based on the roll characteristics of ship which installed on the ship deck. Therefore, the energy recovery unit fixed on the ship's deck can indirectly convert wave energy into electricity to power some medium and large merchant ships. So introduces a linear generator based on rolling generation. The simulation is built in Ansys, and the reciprocating motion of the sliding block is realized when the ship rolls continuously. Then, relevant parameters under different combinations of slider speed and coil turns were calculated, and the relationship between relevant parameters and generator output power was analyzed.
{"title":"Design Of Linear Generator Based On Ship Rolling","authors":"Ling Li, Qiang Fu, Haoran Han, Yi Zhang","doi":"10.1109/ICMA54519.2022.9856329","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856329","url":null,"abstract":"Ships tend to roll at sea under the influence of wind and waves, and there is a lot of recoverable mechanical energy in rolling motion. To collect the energy generated by waves, design an energy recovery device based on the roll characteristics of ship which installed on the ship deck. Therefore, the energy recovery unit fixed on the ship's deck can indirectly convert wave energy into electricity to power some medium and large merchant ships. So introduces a linear generator based on rolling generation. The simulation is built in Ansys, and the reciprocating motion of the sliding block is realized when the ship rolls continuously. Then, relevant parameters under different combinations of slider speed and coil turns were calculated, and the relationship between relevant parameters and generator output power was analyzed.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120821763","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/ICMA54519.2022.9856395
Jiaxing Sun, X. Xiao, Hanling Li
When vehicles work in high dynamic motion, SINS will carry more errors into the GNSS receiver carrier switching for system based on the deep combination of GNSS/SINS. It causes the receiver to lose the loop lock and work in an abnormal state. This paper analyzes the error source of the receiver and deduces the error transmission model of SINS speed auxiliary carrier ring under high dynamic conditions. Then, a method of SINS speed and acceleration aided compensation for carrier loop error is proposed to improve the maximum acceleration range that the carrier loop can bear. The simulation experiment analysis proves that this method is effective, and the maximum acceleration of the carrier can be increased by 4.5g-9g in satellite tracking in different line-of-sight directions.
{"title":"A carrier loop error compensation method for GNSS/SINS deep integration under high dynamics","authors":"Jiaxing Sun, X. Xiao, Hanling Li","doi":"10.1109/ICMA54519.2022.9856395","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856395","url":null,"abstract":"When vehicles work in high dynamic motion, SINS will carry more errors into the GNSS receiver carrier switching for system based on the deep combination of GNSS/SINS. It causes the receiver to lose the loop lock and work in an abnormal state. This paper analyzes the error source of the receiver and deduces the error transmission model of SINS speed auxiliary carrier ring under high dynamic conditions. Then, a method of SINS speed and acceleration aided compensation for carrier loop error is proposed to improve the maximum acceleration range that the carrier loop can bear. The simulation experiment analysis proves that this method is effective, and the maximum acceleration of the carrier can be increased by 4.5g-9g in satellite tracking in different line-of-sight directions.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116403974","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}
To solve the problem of surface patrol in small and medium-sized shallow waters, a multi-point path planning scheme for unmanned surface vehicle (USV) is proposed. The random patrol path planning method is designed as follows: 1) randomly select target points 2) combine genetic algorithm to solve Traveling Salesman Problem (TSP) 3) use Rapidly-exploring Random Trees Star algorithm (RRT*) and Dynamic Window Approach algorithm (DWA) to plan the path. Through the cooperation of global path planning and local path planning, under the premise of ensuring the safety of the USV, the random search of the water surface can be more efficiently carried out. Through simulation experiments, it is proved that the path planning algorithm designed in this paper can complete the patrol task of the water surface under the condition that the USV is safe in shallow waters.
{"title":"Random Patrol Path Planning for Unmanned Surface Vehicles in Shallow Waters","authors":"Xiyang Xie, Yunliang Wang, Yanjuan Wu, Mankun You, Shuangyang Zhang","doi":"10.1109/ICMA54519.2022.9856340","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856340","url":null,"abstract":"To solve the problem of surface patrol in small and medium-sized shallow waters, a multi-point path planning scheme for unmanned surface vehicle (USV) is proposed. The random patrol path planning method is designed as follows: 1) randomly select target points 2) combine genetic algorithm to solve Traveling Salesman Problem (TSP) 3) use Rapidly-exploring Random Trees Star algorithm (RRT*) and Dynamic Window Approach algorithm (DWA) to plan the path. Through the cooperation of global path planning and local path planning, under the premise of ensuring the safety of the USV, the random search of the water surface can be more efficiently carried out. Through simulation experiments, it is proved that the path planning algorithm designed in this paper can complete the patrol task of the water surface under the condition that the USV is safe in shallow waters.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127197320","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":null,"pages":null},"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":null,"pages":null},"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/ICMA54519.2022.9856376
Yang Liu, Shanshan Shi, Yu Song, Qiang Gao, Zeyu Li, Haotian Song, Siyuan Pang, Dong Li
In the field of cognitive neuroscience, mental workload assessment plays an important role. In this work, the power spectral density (PSD) feature of Electroencephalogram (EEG) signals is extracted based on spectrum analysis, and the problems of medium-level and high-level mental workload identification are studied. The classification accuracy of spectral features of each frequency band is evaluated by using AdaBoost, Decision Tree (DT), KNN and support vector machine (SVM). In addition, the features are selected according to the change of relative PSD of each frequency band. The results show that the classification accuracy of the data after feature selection can reach 76.62%, which has been improved with different levels in almost classifier than original data.
{"title":"EEG based Mental Workload Assessment by Power Spectral Density Feature","authors":"Yang Liu, Shanshan Shi, Yu Song, Qiang Gao, Zeyu Li, Haotian Song, Siyuan Pang, Dong Li","doi":"10.1109/ICMA54519.2022.9856376","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856376","url":null,"abstract":"In the field of cognitive neuroscience, mental workload assessment plays an important role. In this work, the power spectral density (PSD) feature of Electroencephalogram (EEG) signals is extracted based on spectrum analysis, and the problems of medium-level and high-level mental workload identification are studied. The classification accuracy of spectral features of each frequency band is evaluated by using AdaBoost, Decision Tree (DT), KNN and support vector machine (SVM). In addition, the features are selected according to the change of relative PSD of each frequency band. The results show that the classification accuracy of the data after feature selection can reach 76.62%, which has been improved with different levels in almost classifier than original data.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129087950","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":null,"pages":null},"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":null,"pages":null},"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/ICMA54519.2022.9855969
Taiga Kitano, Mina Asari, C. Ishii
In this paper, a laparoscopic surgical robot equipped with a new palpation system which can identify the location of an imitation tumor under use of a trocar was developed based on our previous studies. In robotic surgery, when palpation is performed under use of the trocar, it is difficult to realize force or tactile sense of the touched object because the forceps is affected by contact with the trocar. Therefore, cancelation of an influence of the trocar on the forceps was attempted by using the neural network which was previously trained the influence of the trocar on the forceps. In order to verify an effectiveness of the developed palpation system, location identification experiments were carried out for both longitudinal and lateral directions palpation, in which identification of location of the imitation tumor was attempted for 4 kinds of sample with each different tumor location, respectively. The results showed the effectiveness of the neural network, and identification error of location of the imitation tumor was less than 1mm. In addition, the physical burden added to the operator while performing palpation work using the developed palpation system was evaluated by comparison of the energy expenditure obtained through the analysis of expired gas under the following conditions; (a) only force feedback was conducted, (b) only tactile feedback was conducted, and (c) both force and tactile feedbacks were conducted. The result showed that the physical burden to the operator under the condition (c) was smallest.
{"title":"Development of a Robotic Palpation System and Evaluation of the Burden to an Operator in the Palpation","authors":"Taiga Kitano, Mina Asari, C. Ishii","doi":"10.1109/ICMA54519.2022.9855969","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855969","url":null,"abstract":"In this paper, a laparoscopic surgical robot equipped with a new palpation system which can identify the location of an imitation tumor under use of a trocar was developed based on our previous studies. In robotic surgery, when palpation is performed under use of the trocar, it is difficult to realize force or tactile sense of the touched object because the forceps is affected by contact with the trocar. Therefore, cancelation of an influence of the trocar on the forceps was attempted by using the neural network which was previously trained the influence of the trocar on the forceps. In order to verify an effectiveness of the developed palpation system, location identification experiments were carried out for both longitudinal and lateral directions palpation, in which identification of location of the imitation tumor was attempted for 4 kinds of sample with each different tumor location, respectively. The results showed the effectiveness of the neural network, and identification error of location of the imitation tumor was less than 1mm. In addition, the physical burden added to the operator while performing palpation work using the developed palpation system was evaluated by comparison of the energy expenditure obtained through the analysis of expired gas under the following conditions; (a) only force feedback was conducted, (b) only tactile feedback was conducted, and (c) both force and tactile feedbacks were conducted. The result showed that the physical burden to the operator under the condition (c) was smallest.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132689185","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":null,"pages":null},"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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