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Robotic Metal Inert Gas (MIG) and Tungsten Inert Gas (TIG) welding are the most widely used automated welding process in manufacturing industry. A novel robotic welding monitoring system is proposed and developed to detect inconsistencies during the welding process. The welding monitoring system assesses the weld quality and provides a real-time feedback to the welding robot. A new on-line analysis...
In recent years, shale oil and gas development has been thriving in China. However, the shale oil and gas production always suffers a rapid decline. Based on the analysis of a large amount of former theories and experiences, a summary of acid treatment stimulation methods in shale oil and gas is presented, and the acid stimulation mechanism is analyzed. The mainstream technique in acid treatments...
Surface electromyography (sEMG) signals have been extensively studied in the area of intention detection, force estimation and control of rehabilitation devices. Studies regarding sEMG based jaw muscle force estimation are necessary towards building intuitive neural-controlled soft oral rehabilitation robot (SORR). This paper presents a force estimation algorithm based on masseter muscle sEMG signals...
Robotic Metal Insert Gas (MIG) and Tungsten Insert Gas (TIG) welding are responses for growing need from industry for welding process automation. With the well-established process knowledge, a weld monitoring system is developed in this study for manual or robotic TIG/MIG welding to allow the detection of process inconsistency and to assess the welding quality in real-time. A new method of welding...
Gait restoration after stroke is a major concern of neurological rehabilitation. In this paper, a recently developed wearable lower extremity rehabilitation device is introduced, and an adaptive control strategy based on Function Approximation Techniques (FAT) is designed to aid stroke patients who are in the early phase of rehabilitation or severely affected. The device adopts an anthropomorphic...
This paper presents a motion intent recognition method to control a wearable lower extremity assistive device (LEAD) intended to aid stroke patient during activities of daily living (ADL) or rehabilitation. The main goal is to identify user's intended motion based on sensor readings from the limb attached to the assistive device, so as to execute the right control actions to aid the user in his intended...
Human muscle force estimation is important in biomechanics studies, sports and assistive devices fields. Therefore, it is essential to develop an efficient algorithm to estimate force exerted by muscles. The purpose of this study is to predict force/torque exerted by muscles under dynamic muscle contractions based on continuous wavelet transform (CWT) and artificial neural networks (ANN) approaches...
This paper presents a new wearable lower extremities assistive robotic device that aims at providing assistive torque for stroke patients during rehabilitation process. The device specifically provides the assistive torque by detecting the user's intention using surface electromyography (EMG) signals with the force/torque estimation method based on continuous wavelet transform (CWT). The general hardware...
This research developed a wearable lower extremity assistive device intended to aid stroke patient during rehabilitation. The device specifically aims to assist the patient in sit-to-stand, stand-to-sit, and level-walking tasks in order to promote active gait rehabilitation exercises. The device adopts an anthropomorphic structure with hip and knee joint actuated in sagittal plane. A finite state...
This paper describes the development of hardware and software of Human-Machine Interface (HMI) for active assistive device based on surface Electromyography signals (sEMG). The sEMG signals have been chosen as the most intuitive and transparent source of information on detection of users intention. For work presented in this paper, our research activities focus mainly on development of hardware, algorithms...
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