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从人体上肢到康复机器人 人体上肢运动机理研究导论 英文版PDF|Epub|txt|kindle电子书版本网盘下载
- 刘珊著 著
- 出版社： 成都：电子科技大学出版社
- ISBN：7564704780
- 出版时间：2010
- 标注页数：127页
- 文件大小：7MB
- 文件页数：137页
- 主题词：机器人－应用－康复训练－英文
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图书目录
Chapter 1 Introduction1
1.1 The Motivation1
1.2 The main problem and the main thesis2
1.3 Organization of the book4
Chapter 2 Human motor control6
2.1 Introduction6
2.2 The biological system7
2.1.1 The central nervous system7
2.2.2 Proprioceptors and the spinal cord8
2.2.3 Motor neurons,and motor units9
2.2.4 The muscle and the joints10
2.2.5 Limitations of the technical description10
2.3 Neuromotor control strategies11
2.3.1 Feedback control11
2.3.2 Feed-forward control12
2.3.3 Adaptive control13
2.3.4 Motor planning14
2.3.5 Optimal control15
2.3.6 Internal models17
2.3.7 Artificial neural network control18
2.4 Redundancy,degeneracy and parallelism20
2.4.1 Multiple feedback loops21
2.4.2 Spatial filtering22
2.4.3 Learning to exploit the redundancy23
2.5 Mathematical modeling24
2.5.1 Theoretical muscle modeling25
2.5.2 Modeling assumptions25
2.5.3 Muscle contraction26
2.5.4 Musculoskeletal system27
2.5.5 Muscle model28
2.5.6 Arm model29
Chapter 3 Studying motor control31
3.1 The inverse control problem31
3.2 Forward model33
3.3 Inverse model35
3.4 Trajectory planning35
3.5 Optimal control36
3.6 Adaptive control38
3.7 Hierarchical control39
3.8 Neural network control40
3.9 Reinforcement learning42
3.10 Impedance control43
3.11 End-effector control45
Chapter 4 Motor learning and rehabilitation robot47
4.1 Human-robot interaction47
4.2 Motor learning48
4.3 Current view of rehabilitation robot49
4.4 Problem in current view51
Chapter 5 Posture control of the upper limb54
5.1 Posture control54
5.2 Artificial neural network control57
5.3 Multilayer perceptron network controller59
5.3.1 Structure59
5.3.2 Training algorithm60
5.3.3 Simulation results61
5.3.4 Discussion63
5.4 Multivariable sliding-mode-based fuzzy CMAC64
5.4.1 Problem formulation64
5.4.2 Sliding-mode-based fuzzy CMAC65
5.4.3 Training algorithm66
5.4.4 Stability analysis68
5.4.5 Simulation results70
Chapter 6 Trajectory tracking control of the upper limb72
6.1 Trajectory tracking control72
6.2 Evolutionary diagonal recurrent neural network73
6.2.1 Overview73
6.2.2 Muscle model74
6.2.3 Control system structure74
6.2.4 Structure of the DRNN75
6.2.5 Optimization of the DRNN Structure75
6.2.6 DRNN Weight Training78
6.2.7 Simulation Results79
6.2.8 Discussion85
6.3 Sliding-mode-based diagonal recurrent CMAC85
6.3.1 Overview85
6.3.2 Problem formulation86
6.3.3 Sliding mode controller86
6.3.4 SDRCMAC Architecture87
6.3.5 Training algorithm89
6.3.6 Stability analysis91
6.3.7 Implementations and results93
Chapter 7 Human-robot control system96
7.1 Overview96
7.2 Human-robot system97
7.2.1 Structure97
7.2.2 Function of patients'voluntary torque97
7.2.3 Dynamic model98
7.2.4 Control requirement98
7.3 Sliding mode controller99
7.3.1 Problem formulation99
7.3.2 Controller design100
7.3.3 Stability of the Control System101
7.3.4 Simulation results101
7.3.5 Summary and discussion104
7.4 Robust control system105
7.4.1 Controller architecture105
7.4.2 Robust controller105
7.4.3 Simulation results106
7.4.4 Experimental results108
7.4.5 Summary and discussion114
7.5 SDRCMAC115
Reference117