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In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the...
A fuzzy controller is established for the wire feeder of the invasive vascular interventional surgery robot in this paper. First of all, the mechanism of the wire feeder is introduced, and the axial motion is analyzed. Second, the dynamic model of the wire feeder is established. Next, the fuzzy PID controller is established to improve the positional accuracy and dynamic performance. At last, the controller...
Presented in this paper is a method for design and analysis of reconfigurable parallel robots. Inherent modularity in the parallel robot lends itself a natural candidate for reconfiguration. By taking the branches as building blocks, a number of modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among three types of reconfiguration, namely, geometry...
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