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Zhang, Chao
- A Control Framework of Lower Extremity Rehabilitation Exoskeleton Based on Neuro-Muscular-Skeletal Model
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Authors
Affiliations
1 Graduate School of Engineering, Nagasaki Institute of Applied Science, Aba-machi, Nagasaki, JP
2 Department of Advanced Technology and Science for Sustainable Development, Nagasaki University, Bunnkyomachi, JP
1 Graduate School of Engineering, Nagasaki Institute of Applied Science, Aba-machi, Nagasaki, JP
2 Department of Advanced Technology and Science for Sustainable Development, Nagasaki University, Bunnkyomachi, JP
Source
Journal of Applied Information Science, Vol 3, No 1 (2015), Pagination: 7-13Abstract
A control system framework of lower extremity rehabilitation exoskeleton robot is presented. It is based on the Neuro-Musculo-Skeletal biological model. Its core composition moudle, the motion intent parser part, mainly comprises of three distinct parts.The first part is signal acquisition of surface electromyography (sEMG) that is the summation of motor unit action potential (MUAP) starting from central nervous system (CNS). sEMG can be used to decode action intent of operator to make the patient actively participate in specific training. As another composition part, a muscle dynamics model that is comprised of activation and contraction dynamic model is developed. It is mainly used to calculate muscle force. The last part is the skeletal dynamic model that is simplified as a linked segment mechanics. Combined with muscle dynamic model, the joint torque exerted by internal muscles can be exported, which can be ued to do a exoskeleton controller design. The developed control framework can make exoskeleton offer assistance to operators during rehabilitation by guiding motions on correct training rehabilitation trajectories, or give force support to be able to perform certain motions. Though the presentation is orientated towards the lower extremity exoskeleton, itis generic and can be applied to almost any part of the human body.Keywords
Rehabilitation Exoskeleton, Surface Electromyography (sEMG), Neuro-Musculo-Skeletal Model, Muscle Dynamics Model, Skeletal Model.
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- Safety Assessment of a Tailings Pond:A Case Study in China
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PDF Views:183
Authors
Affiliations
1 State Key Laboratory of Coal Mine Disaster Dynamics and Control, Chongqing University, Chongqing-400044, CN
2 State Key Laboratory of Geomechanics and Geotechnical Engineering, Institute of Rock and Soil Mechanics, Chinese Academy of Sciences, Wuhan-430071, CN
1 State Key Laboratory of Coal Mine Disaster Dynamics and Control, Chongqing University, Chongqing-400044, CN
2 State Key Laboratory of Geomechanics and Geotechnical Engineering, Institute of Rock and Soil Mechanics, Chinese Academy of Sciences, Wuhan-430071, CN
Source
International Journal of Earth Sciences and Engineering, Vol 9, No 1 (2016), Pagination: 74-80Abstract
Located in northwestern China, Qijiagou tailings pond is examined in this study. Since tailings pond is the fillings of tailings, physical properties of material in tailings pond are determined utilizing in-situ testing and laboratory experimentation. Geo-Slope software is employed to establish a simplified two-dimension model of the tailings pond and to analyze the seepage flow field. Static stability is evaluated with the limit equilibrium method while the equivalent linear method is applied to determine time-history response of the system. Calculated results reveal the dry beach length is reduced from 200 m to 90 m and the phreatic line rises by 2-3 m in the design flood. Partial liquefaction occurs in the zone from water edge to the water reservoir tip while maximum liquefaction depth is approximately 15 m under water level. The safety factor of tailings pond varies with seismic time process and the minimum safety factor is 1.5.Keywords
Tailings Pond, Safety Assessment, Stability, Dynamic Response, Liquefaction.Full Text