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We have developed a wearable mobility and the interface to control the mobility, which is operated according to motions of lower legs of a wearer with the mobility. They are small wheeled mobile robots, which are mounted at sole of the both feet. In this paper, we introduce the developed mobility and propose a new interface to handle the mobility instinctively for the wearer with the mobility. Then,...
Dance has become compulsory in the physical education courses in Japan, recently. Especially for the creative dance, it is possible to cultivate capacities for expression and communication abilities. However, it is hard to presuppose the creativity and skill of creative dance for beginner level dancers without experience. This paper describes a novel supporting method for the beginners by using a...
This paper proposes an algorithm that estimates a reaction torque loading the grasping jaws of wire-actuated robotic forceps and compensates for subsequent wire elongation. The algorithm is constructed by the combination of the Reaction Force Observer (RFOB) and an optimization problem based on a gradient descent method. The conventional RFOB is used to estimate an external torque that includes not...
An in-depth understanding of passive bipedal walking is expected to contribute to the design of energy-efficient bipedal gaits and passivity-mimicking control laws. In this paper we investigate virtual passive bipedal walking in terms of generalized force and kinetic energy, and derive three characteristic equations which describe some essential mechanism of virtual passive bipedal walking and can...
Previous studies demonstrated that bimanual coordination can assist to rehabilitation program for patients with hemiplegia by improving their motor functions. Moreover, in addition to the rehabilitation assistance, bimanual coordination can also be used for prosthesis users to improve the usability of prosthesis. Intention detection and motion control algorithms for one hand case have been investigated...
This paper proposes a scheme for manipulating the posture angle of a passive object using an active plate. The scheme was evaluated on a rigid spherical object called a tumble doll. During the test, the object and active plate were subjected to cyclic movements. The object angle and angular velocity were combined into a state vector, and the cyclic motion was expressed as a nonlinear discrete system...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate...
A networking mechanism was designed based on scalable trailing edge to satisfy the requirements of morphing wings. By this way, we can increase the lift coefficient and the aerodynamic efficiency of the aircraft in the process of taking off and landing. We use Lagrange equations to set up the system dynamics model. Simulation results by Simulink and Fluent show that the whole system can realize the...
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