PROJECT TITLE :

Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition

ABSTRACT:

Recognition of the wearer's motion intention plays an necessary role within the study of power-assist robots. During this paper, an intention-guided management strategy is proposed and applied to an upper-limb power-assist exoskeleton. Meanwhile, a personality's-robot interface comprised of force-sensing resistors (FSRs) is meant to estimate the motion intention of the wearer's higher limb in real time. Moreover, a new concept referred to as the “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and also the observation model of IRD are obtained by finding out the higher limb behavior modes and analyzing the link between the measured force signals and the motion intention. Based on these two models, the IRD will be inferred online using an adapted filtering technique. Guided by the inferred IRD, an admittance control strategy is deployed to control the motions of three DC motors placed at the corresponding joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by experiments on a three degree-of-freedom (DOF) higher-limb robotic exoskeleton.


Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here


PROJECT TITLE :Channel Tracking With Flight Control System for UAV mmWave MIMO Communications - 2018ABSTRACT:Unmanned aerial vehicle (UAV) communications could offer flexible scheduling, improved reliability, enhanced capability
PROJECT TITLE :Adaptive Contention Window Control Scheme in Wireless Ad Hoc Networks - 2018ABSTRACT:This competition mechanism of the IEEE 802.11 distributed coordination function (DCF) is understood to own some drawbacks, e.g.,
PROJECT TITLE :Peak-to-Average Power Control via Tone Reservation in General Orthonormal Transmission Systems - 2018ABSTRACT:During this Project, we study the tone reservation method for reducing the peak-to-average power ratio
PROJECT TITLE :Optimal Hybrid Spectrum Sensing Under Control Channel Usage Constraint - 2018ABSTRACT:Cooperative spectrum sensing significantly improves the detection reliability of a cognitive radio network. In cooperative spectrum
PROJECT TITLE :Decentralized DC Microgrid Monitoring and Optimization via Primary Control Perturbations - 2018ABSTRACT:We have a tendency to treat the emerging power systems with direct current (dc) microgrids, characterized with

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry