MEMS (micro electrical mechanical systems) gyroscopes are used to measure the angular rate in several applications. The performance of a MEMS gyroscope is dependent on more than one factor, such as mechanical imperfections, environmental condition-de...
To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of convention...
Traditional industrial robots often face challenges in achieving a perfectly polished surface on a workpiece because of their high mechanical rigidity. The active compliance force control device installed at the robotic arm’s end enables high-p...
The pneumatic muscle actuator (PMA) has been widely applied in the researches of rehabilitation robotic devices for its high power to weight ratio and intrinsic compliance in the past decade. However, the high nonlinearity and hysteresis behavior of...
The use of bodyweight unloading force control on a treadmill with therapist manual assistance for gait training imposes constraints on natural walking. It influences the patient’s training effect for a full range of natural walks. This study pr...
This paper proposed a novel design using a torsion spring mechanism with a single fluidic muscle actuator (FMA) to drive a joint with one degree-of-freedom (DOF) through a steel wire and a proportional pressure regulating valve (PRV). We developed a...
An innovative wearable upper-limb power-assist exoskeleton system (UPES) was designed for laborers to improve work efficiency and reduce the risk of musculoskeletal disorders. This novel wearable UPES consists of four joints, each comprising a single...
To improve motion accuracy through functional electrical stimulation (FES) of forearm muscles, feedback control laws are applied to the index finger’s metacarpophalangeal (MP) joint. This paper introduces a proxy-based super-twisting algorithm...