書誌事項
- タイトル別名
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- Angle Control of Powered Ankle Orthosis Using Ultrasonic Motor
- チョウオンパ モータ オ モチイタ タンカシ ソウグ ノ アシクビカク セイギョ
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An ankle orthosis is prescribed for the persons who have the movement disorders caused by the paralyzed ankle. The most important purpose of the ankle orthosis is to support the gait by keeping the toe clearance. However, the conventional ankle orthosis with fixed joint restricts the motion of ankle because the ankle orthosis has no actuators. Therefore, the flexible and powered ankle orthosis is required to realize smooth walking. In this paper, a powered ankle orthosis with a progressive wave type ultrasonic motor (PUM) is proposed. To achieve smooth walking, a fuzzy reference generator and a fuzzy feedforward controller are introduced. The objective of the fuzzy reference generator is to estimate the appropriate ankle motion, which is obtained from the walking experiments for a person without handicap.The fuzzy feedforward controller is used to improve the tracking performance of the ankle positioning system. The effectiveness of the proposed ankle orthosis is demonstrated by experiments.
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 13 (12), 560-565, 2000
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390001205165298432
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- NII論文ID
- 10007398566
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 5596359
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- データソース種別
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