網(wǎng)絡(luò)系統(tǒng)的構(gòu)建中期報(bào)告

2013年中期報(bào)告報(bào)告人：孫建IIM2013-6-28工作簡(jiǎn)介工作內(nèi)容總結(jié)與展望PARTIIPARTIII雙向密封門專利與文章報(bào)告結(jié)構(gòu)PARTI假想柔順控制方法（改進(jìn)型）工作簡(jiǎn)介ResearchonthePowerAssistMethodofWPAL/WREHTASBasedontheInteractionForceInformationITER轉(zhuǎn)運(yùn)車整體控制系統(tǒng)設(shè)計(jì)ITER轉(zhuǎn)運(yùn)車雙向密封門控制系統(tǒng)設(shè)計(jì)、專利和文章撰寫主要工作-WREHTAS

簡(jiǎn)介b.手臂震顫信號(hào)檢測(cè)裝置WearableRoboticExoskeletonforHandTremorAssessmentandSuppression（WREHTAS），可穿戴式手臂震顫抑制與評(píng)估機(jī)器人系統(tǒng)c.震顫信號(hào)采集與處理帕金森患者、生理性震顫患者，醫(yī)生精密手術(shù)、老年人日常生活等1989年首次報(bào)道，1998年后引起關(guān)注；1999年開(kāi)始相關(guān)工作~2007了解調(diào)研～2008.1獲所知識(shí)創(chuàng)新基金資助～2008.6安徽省自然科學(xué)基金資助，～2012.1獲國(guó)家自然科學(xué)青年基金資助原理應(yīng)用歷程a.帕金森病患者

d.手臂震顫抑制實(shí)驗(yàn)與仿真基于機(jī)器人技術(shù)的手臂震顫抑制原理與流程Thepliancecontrolstrategyhassomeweaknesses（假想柔順控制策略及其改進(jìn)）ThepliancecontrolstrategyhassomeweaknessesImprovedpliancecontrolstrategyImprovedpliancecontrolstrategyExperimentswithpliancecontrolstrategyFig.6.TherightlegtrajectoryofWPALandtheoperator(ThehipandkneeangletrajectoriesoftheoperatorandWPALaredepictedseparatelybythebluecurveandtheredcurveandthebiggestdifferencesaredepictedbythepurpleoval).Theexperimentresultsshowthatthese”disturbance”points(purpleovalmarkerinFig.6)arebasicallysettledinthemomentswhentheoperatormovementschangeddistinctlysuchas“droppingthefoot”or“l(fā)iftingthefoot”.Itisillustratedfromtheaboveexperimentresultsthatduetotheinherentproblemofthecontrolstrategyandtheinevitabletime-delayproblemofthecontrolsystem,itisdifficultforWPAL/WREHTAStotracktherapidchangingtrajectoriesoftheoperator.Tosolvetheproblem,the“disturbance”timeshouldbedeterminedsothatthese“disturbance”motionsofWPAL/WREHTAShavetobecompensated.ExperimentwithimprovedpliancecontrolstrategyAsshowninFig.7,thedifferencesofthetrajectoriesbetweenWPALandthehumaninthe“disturbance”timesesmaller,andtheoperatornolongerfeelsunnaturalorfortable.Itisilluminatedfromtheaboveexperimentresultsthatthenewimprovedpowerassistmethodcandeterminethe“disturbance”pointscorrectlyandconductperiodiccompensationtothese“disturbance”pointssothatWPAL/WREHTAScantracktherapidchangingtrajectoryinthe“disturbance”pointsandmaketheoperatorfeelnaturalandcomfortable.Fig.7TheexperimentresultswithimprovedpliancecontrolstrategyExperimentwithimprovedpliancecontrolstrategy部件轉(zhuǎn)運(yùn)車關(guān)鍵技術(shù)研究孫建，李濤，向馗部件轉(zhuǎn)運(yùn)車器件和控制原理與流程主要工作-ITER轉(zhuǎn)運(yùn)車控制系統(tǒng)主要工作-ITER轉(zhuǎn)運(yùn)車雙向密封門主要工作-ITER轉(zhuǎn)運(yùn)車雙向密封門主要工作-ITER轉(zhuǎn)運(yùn)車雙向密封門主要工作-ITER轉(zhuǎn)運(yùn)車雙向密封門工作成果-論文