ANFIS based Jacobian for a parallel manipulator mobility assistive device

Ahmed Asker; Omar Salah; Ahmed M R Fath El-Bab; Ahmed A. Ramadan; Samy M F Assal; Salvatore Sessa; Ahmed Abo-Ismail

doi:10.1109/CONTROL.2014.6915173

ANFIS based Jacobian for a parallel manipulator mobility assistive device

Ahmed Asker^*, Omar Salah, Ahmed M R Fath El-Bab, Ahmed A. Ramadan, Samy M F Assal, Salvatore Sessa, Ahmed Abo-Ismail

^*この研究の対応する著者

研究成果: Conference contribution

10 被引用数 (Scopus)

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.

本文言語	English
ホスト出版物のタイトル	2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	395-400
ページ数	6
ISBN（印刷版）	9781479950119
DOI	https://doi.org/10.1109/CONTROL.2014.6915173
出版ステータス	Published - 2014 10月 1
イベント	10th UKACC International Conference on Control, CONTROL 2014 - Loughborough 継続期間: 2014 7月 9 → 2014 7月 11

Other

Other	10th UKACC International Conference on Control, CONTROL 2014
City	Loughborough
Period	14/7/9 → 14/7/11

ASJC Scopus subject areas

制御およびシステム工学

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10.1109/CONTROL.2014.6915173

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引用スタイル

Asker, A., Salah, O., Fath El-Bab, A. M. R., Ramadan, A. A., Assal, S. M. F., Sessa, S., & Abo-Ismail, A. (2014). ANFIS based Jacobian for a parallel manipulator mobility assistive device. In 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings (pp. 395-400). [6915173] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CONTROL.2014.6915173

Asker, A, Salah, O, Fath El-Bab, AMR, Ramadan, AA, Assal, SMF, Sessa, S & Abo-Ismail, A 2014, ANFIS based Jacobian for a parallel manipulator mobility assistive device. in 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings., 6915173, Institute of Electrical and Electronics Engineers Inc., pp. 395-400, 10th UKACC International Conference on Control, CONTROL 2014, Loughborough, 14/7/9. https://doi.org/10.1109/CONTROL.2014.6915173

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abstract = "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.",

author = "Ahmed Asker and Omar Salah and {Fath El-Bab}, {Ahmed M R} and Ramadan, {Ahmed A.} and Assal, {Samy M F} and Salvatore Sessa and Ahmed Abo-Ismail",

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AU - Assal, Samy M F

AU - Sessa, Salvatore

AU - Abo-Ismail, Ahmed

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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.

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ANFIS based Jacobian for a parallel manipulator mobility assistive device

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