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

    研究成果: Conference contribution

    8 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
    出版ステータスPublished - 2014 10 1
    イベント10th UKACC International Conference on Control, CONTROL 2014 - Loughborough
    継続期間: 2014 7 92014 7 11

    Other

    Other10th UKACC International Conference on Control, CONTROL 2014
    CityLoughborough
    Period14/7/914/7/11

    ASJC Scopus subject areas

    • Control and Systems Engineering

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