Page 269 - Control Theory in Biomedical Engineering

surface; position) for position; stretch and not each backlash; each Continued

during planer and gain adjusted could bearings, cable and shoulder did before shoulder maintaining before

support a on (Torque trial every be singular Cable affect backlash for used elevation/depression; required for for have could required

a rests to reach mechanism Mechanism is mechanism means is
has it modes Before need to Weakness: might adaption No gear adaption
Wrist as control signals Hard ROM which transmission CR shoulder CR tension;

Strength: experiment two Weakness: EMG Strength: full slip, or cause derailment Strength: Weakness: realize controller experiment Strength: Weakness: cable controller experiment

Actuation: pneumatic proportional radialis carpi torque, current (position F/E, (Ab/Ad, wrist (P/S), motors pulleys Ab/Ad), with servo (Method: wrist No test: and (vertical (F/E), F/E) gear, spur pulley control wrist signals, No test:

(F/E) using (Method: flexor EMG, radialis motor No forearm Brushed reduction (F/E, DC Control: signals, EMG Clinical elbow (R/U, with cable-driven impedance EMG Clinical

Wrist actuators input: carpi output: position test: Shoulder (F/E), Actuation: No Shoulder Actuation: input: torque) Shoulder IR/ER), wrist motors input: torque)

Motion: soft Control: control; extensor angle; control), Clinical Motion: elbow F/E) cable-driven test: Motion: (F/E) gearing output: Motion: F/E, (P/S), DC and gears, (Method: EMG; output:

1 Rotary-type pressure servo (torque control)) 7 IR/ER), (R/U, Clinical 3 harmonic neuro-fuzzy; 7 horizontal forearm Actuation: Control: on
DOF: EMG and and DOFs: with DOFs: elbow force; DOFs: bevel based force;

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