In order to overcome the drawbacks of traditional rehabilitation method,the robot-aided rehabilitation has been widely investigated for the recent years.And the hand rehabilitation robot,as one of the hot research fie...In order to overcome the drawbacks of traditional rehabilitation method,the robot-aided rehabilitation has been widely investigated for the recent years.And the hand rehabilitation robot,as one of the hot research fields,remains many challenging issues to be investigated.This paper presents a new hand exoskeleton system with some novel characteristics.Firstly,both active and passive rehabilitative motions are realized.Secondly,the device is elaborately designed and brings advantages in many aspects.For example,joint motion is accomplished by a parallelogram mechanism and high level motion control is therefore made very simple without the need of complicated kinematics.The adjustable joint limit design ensures that the actual joint angles don＇t exceed the joint range of motion（ROM） and thus the patient safety is guaranteed.This design can fit to the different patients with different joint ROM as well as to the dynamically changing ROM for individual patient.The device can also accommodate to some extent variety of hand sizes.Thirdly,the proposed control strategy simultaneously realizes the position control and force control with the motor driver which only works in force control mode.Meanwhile,the system resistance compensation is preliminary realized and the resisting force is effectively reduced.Some experiments were conducted to verify the proposed system.Experimentally collected data show that the achieved ROM is close to that of a healthy hand and the range of phalange length（ROPL） covers the size of a typical hand,satisfying the size need of regular hand rehabilitation.In order to evaluate the performance when it works as a haptic device in active mode,the equivalent moment of inertia（MOI） of the device was calculated.The results prove that the device has low inertia which is critical in order to obtain good backdrivability.The experiments also show that in the active mode the virtual interactive force is successfully feedback to the finger and the resistance is reduced by one-third;for the pas展开更多
采用摩托罗拉16位单片机MC9S12XEP100,开发了柴油机颗粒捕集器(diesel particulate filter,DPF)系统电控单元,实现了柴油机控制器局域网络(controller area network,CAN)通信信号和DPF相关传感器的信号采集和执行器的驱动功能。根据主被...采用摩托罗拉16位单片机MC9S12XEP100,开发了柴油机颗粒捕集器(diesel particulate filter,DPF)系统电控单元,实现了柴油机控制器局域网络(controller area network,CAN)通信信号和DPF相关传感器的信号采集和执行器的驱动功能。根据主被动DPF再生系统要实现的功能指标,对基于DPF压差和柴油机燃油消耗量确定的再生需求控制策略、DPF需求再生触发控制策略及再生温度闭环控制策略进行详细阐述。进行了燃油喷射系统精度试验、DPF再生温度闭环控制和再生过程试验、再生完成控制试验。经过柴油机总成台架和整车测试,试验验证了DPF控制策的可行性,使柴油机尾气排放得到了良好控制。展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50975009)
文摘In order to overcome the drawbacks of traditional rehabilitation method,the robot-aided rehabilitation has been widely investigated for the recent years.And the hand rehabilitation robot,as one of the hot research fields,remains many challenging issues to be investigated.This paper presents a new hand exoskeleton system with some novel characteristics.Firstly,both active and passive rehabilitative motions are realized.Secondly,the device is elaborately designed and brings advantages in many aspects.For example,joint motion is accomplished by a parallelogram mechanism and high level motion control is therefore made very simple without the need of complicated kinematics.The adjustable joint limit design ensures that the actual joint angles don＇t exceed the joint range of motion（ROM） and thus the patient safety is guaranteed.This design can fit to the different patients with different joint ROM as well as to the dynamically changing ROM for individual patient.The device can also accommodate to some extent variety of hand sizes.Thirdly,the proposed control strategy simultaneously realizes the position control and force control with the motor driver which only works in force control mode.Meanwhile,the system resistance compensation is preliminary realized and the resisting force is effectively reduced.Some experiments were conducted to verify the proposed system.Experimentally collected data show that the achieved ROM is close to that of a healthy hand and the range of phalange length（ROPL） covers the size of a typical hand,satisfying the size need of regular hand rehabilitation.In order to evaluate the performance when it works as a haptic device in active mode,the equivalent moment of inertia（MOI） of the device was calculated.The results prove that the device has low inertia which is critical in order to obtain good backdrivability.The experiments also show that in the active mode the virtual interactive force is successfully feedback to the finger and the resistance is reduced by one-third;for the pas
文摘采用摩托罗拉16位单片机MC9S12XEP100,开发了柴油机颗粒捕集器(diesel particulate filter,DPF)系统电控单元,实现了柴油机控制器局域网络(controller area network,CAN)通信信号和DPF相关传感器的信号采集和执行器的驱动功能。根据主被动DPF再生系统要实现的功能指标,对基于DPF压差和柴油机燃油消耗量确定的再生需求控制策略、DPF需求再生触发控制策略及再生温度闭环控制策略进行详细阐述。进行了燃油喷射系统精度试验、DPF再生温度闭环控制和再生过程试验、再生完成控制试验。经过柴油机总成台架和整车测试,试验验证了DPF控制策的可行性,使柴油机尾气排放得到了良好控制。
