抄録
Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings |
| 出版者 | Institute of Electrical and Electronics Engineers Inc. |
| ページ | 395-400 |
| ページ数 | 6 |
| ISBN（印刷物） | 9781479950119 |
| DOI | |
| 出版物ステータス | Published - 2014 10 1 |
| イベント | 10th UKACC International Conference on Control, CONTROL 2014 - Loughborough 継続期間: 2014 7 9 → 2014 7 11 |
Other
| Other | 10th UKACC International Conference on Control, CONTROL 2014 |
|---|---|
| 市 | Loughborough |
| 期間 | 14/7/9 → 14/7/11 |
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ASJC Scopus subject areas
- Control and Systems Engineering
これを引用
ANFIS based Jacobian for a parallel manipulator mobility assistive device. / Asker, Ahmed; Salah, Omar; Fath El-Bab, Ahmed M R; Ramadan, Ahmed A.; Assal, Samy M F; Sessa, Salvatore; Abo-Ismail, Ahmed.
2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 395-400 6915173.研究成果: Conference contribution
}
TY - GEN
T1 - ANFIS based Jacobian for a parallel manipulator mobility assistive device
AU - Asker, Ahmed
AU - Salah, Omar
AU - Fath El-Bab, Ahmed M R
AU - Ramadan, Ahmed A.
AU - Assal, Samy M F
AU - Sessa, Salvatore
AU - Abo-Ismail, Ahmed
PY - 2014/10/1
Y1 - 2014/10/1
N2 - Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system.
AB - Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system.
UR - http://www.scopus.com/inward/record.url?scp=84921450137&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84921450137&partnerID=8YFLogxK
U2 - 10.1109/CONTROL.2014.6915173
DO - 10.1109/CONTROL.2014.6915173
M3 - Conference contribution
AN - SCOPUS:84921450137
SN - 9781479950119
SP - 395
EP - 400
BT - 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -