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Powered knee prostheses, compared to traditional energetically-passive knee prostheses, greatly enhance the mobility of transfemoral amputees. However, powered prostheses have a large number of control parameters that must be adjusted for individual amputee users, which presents a great challenge for clinical use. To address this challenge, we proposed and compared 2 automatic tuning strategies (i...
The cooperation between airlines has been a growing global phenomenon in airline industry. This paper deals with a revenue management problem of an airline alliance with two member airlines within highly competitive markets. We formulate a MIP (Mixed Integer Programming) model to maxmize this alliance's total revenue by global optimization. We also consider the influence of competition (horizontal...
Neural-machine interface (NMI) decoding errors challenge the clinical value of neural control of powered artificial legs, because these errors can dangerously disturb the user's walking balance, cause stumbles or falls, and thus threaten the user's confidence and safety in prosthesis use. Although extensive research efforts have been made to minimize the NMI decoding error rate, none of the current...
Above knee amputees exhibit a higher risk of falling than able-bodied people, so the capacity to recover from trips (a major cause of unintentional falls) is critical for these amputees to prevent fall-related injuries. Although trip recovery approaches using powered prostheses have been proposed, the effectiveness of these approaches has not been evaluated with varied trip-related disturbance levels...
In this study, we developed and tested a novel adaptive controller for powered transfemoral prostheses. Adaptive dynamic programming (ADP) was implemented within the prosthesis control to complement the existing finite state impedance control (FS-IC) in a prototypic active-transfemoral prosthesis (ATP). The ADP controller interacts with the human user-prosthesis system, observes the prosthesis user's...
Powered knee prostheses provide substantial advantages for amputees compared to traditional passive devices during basic walking tasks (i.e. level-ground, stairs, ramps), but the impedance control parameters are fixed. For environments that differ from the well-controlled setting of the clinic, amputees must compensate their gait patterns because fixed control parameters ideal for walking on level...
New control methods are presented in this paper for a hopping single-legged robot in the 2D plane. It is aimed to keep the robot's movement stably, namely kinematic parameters oscillating in a small range. Body angle, hopping height and horizontal velocity respectively represent the control parameters of three degrees of freedom. Finally, a series of simulation experiments show that all the kinematic...
Visual homing has been widely studied in the past decade. It enables a mobile robot to move to a Home position using only information extracted from visual data. However, integration of homing algorithms into real applications is not widely studied and poses a number of significant challenges. Failures often occur due to moving people within the scene and variations in illumination. We present a novel...
This paper aims to design a wearable terrain recognition system, which might assist the control of powered artificial prosthetic legs. A laser distance sensor and inertial measurement unit (TMU) sensors were mounted on human body. These sensors were used to identify the movement state of the user, reconstruct the geometry of the terrain in front of the user while walking, and recognize the type of...
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