• 한국전문물리치료학회지
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• 제8권3호
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• pp.27-34
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• 2001

Physical therapists have been using biofeedback training to induce improvements in various circumstances. The purpose of this study was to compare the effects of visual and tactile feedback using electrical stimulation on quadriceps strength. Nineteen women without known impairment of the neuromusculoskeletal system volunteered for this study. Subjects were randomly allocated into three groups: visual feedback, tactile feedback, and control group. The torque of isometric knee extension force was measured. Subjects were asked to exert the maximal isometric contraction force of quadriceps over a 30 second period. The resting period of 10 minutes was given after the maximal isometric contraction to avoid the muscle fatigue. In between groups comparison, significant differences of the peak torque and the torque area were found on the performance of the maximal isometric contraction of quadriceps (p<.05). The values peak of torque and torque area were significantly higher during visual feedback than tactile feedback. The results of this study suggest that visual feedback is more powerful than tactile feedback (p<.01).

• Journal of Power Electronics
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• 제11권2호
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• pp.140-147
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• 2011

In this paper, a novel position controller based on state feedback and feed-forward is proposed. Traditional position and speed controllers are replaced by a single controller with the position and speed as state feedbacks, and the position command and load torque as feed-forwards. The feedback and feed-forward gains are obtained by analytic modeling and design. The load torque, rotor speed and position are estimated by an observer based on a Kalman filter (KF) with a low resolution mechanical position sensor. Feed-forward compensation by an estimated load torque is used to improve the dynamic performance during load torque changes.

• 로봇학회논문지
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• 제5권1호
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• pp.48-54
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• 2010

Ankle-foot orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of ankle muscular activities was developed. In this study, the effectiveness of the system was investigated during plantarflexion motion of ankle joint. To find a effectiveness of the system, the subjects performed maximal voluntary isokinetic plantarflexion contraction on a Biodex-dynamometer. Plantarfexion torque of the ankle joint is assisted by subject's soleus muscle that is generated when ankle joint do plantarflexion motion. We used the muscular stiffness signal of a soleus muscle for feedback control of ankle-foot orthosis as physiological signal. For measurement of this signal, we made the muscular stiffness force sensor. We compared a muscular stiffness force of a soleus muscle between with feedback control and without it and a maximal plantarflexion torque between not wearing a ankle-foot orthosis, without feedback control wearing it and with feedback control wearing it in each ten elderly adults. The experimental result showed that a muscular stiffness force of a soleus muscle with feedback control was reduced and plantarflexion torque of an ankle joint only wearing ankle-foot orthosis was reduced but a plantarflexion torque with feedback control was increased. The amount of a increasing with feedback control is more higher than the amount of a decreasing only wearing it. Therefore, we confirmed the effectiveness of the developed ankle-foot orthosis with feedback control.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.514-518
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• 2005

In this paper an adaptive fuzzy PI controller with feedback linearizing meth od is implemented to controlling flux and torque separately in induction motor. In this paper first decoupling of torque and flux which are outputs to be controlled, is achieved by using feedback linearization methodology. Then for reducing the effect of noise and rejection of disturbance, main part of controller which is adaptive PI fuzzy controller, is designed. Coefficients of PI controller are determined by defined fuzzy rules due to error dynamic. Inputs of fuzzy system are defined sliding surfaces which consist of torque and flux errors. The main contribution of this paper is effect reduction of noise and disturbance on torque and flux which is based on fuzzy logic and nonlinear control. At last the effectiveness of the proposed control scheme in presence of noise and load disturbance is simulated and comprised to applying sliding method. The results verify better effectiveness of the proposed method for effect reduction of noise and disturbance.

• Journal of Power Electronics
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• 제15권2호
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• pp.469-478
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• 2015

In order to promote the application of switched reluctance machines (SRM) in electric vehicles (EVs), the braking torque closed-loop control of a SRM is proposed. A hysteresis current regulator with the soft chopping mode is employed to reduce the switching frequency and switching loss. A torque estimator is designed to estimate the braking torque online and to achieve braking torque feedback. A feed-forward plus saturation compensation torque regulator is designed to decrease the dynamic response time and to improve the steady-state accuracy of the braking torque. The turn-on and turn-off angles are optimized by a genetic algorithm (GA) to reduce the braking torque ripple and to improve the braking energy feedback efficiency. Finally, a simulation model and an experimental platform are built. The simulation and experimental results demonstrate the correctness of the proposed control strategy.

• 한국군사과학기술학회지
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• 제10권3호
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• pp.181-188
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• 2007

This paper presents a torque control method of a hydraulic actuation system for measuring the dynamic stiffness of missile fin actuators. We propose a new control technique called Dual Dynamic Torque Feedback Control(DDTFC), which improves the stability of the torque control system and enables fast tracking of torque command. The developed control scheme is derived from the physical understanding based on mathematical modelling and analysis. The dynamics of hydraulic torque control servo-system is unravelled via physics-based modelling and nonparametric system identification. In order to verify the effectiveness of the method, the experiment is carried out with a test equipment for measuring the dynamic stiffness. The experiment and simulation results show that DDTFC gives stability improvement.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.253-263
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• 2002

This paper presents an adaptive feedback linearization control scheme for induction motors using stator fluxes. By using stator flukes as states, overparameterization is prevented and control inputs can be determined straightforwardly unlike in existing schemes. This approach leads to the decrease of the relative degree for the flux modulus and thus yields a simpler control algorithm than the prior results. In this paper. adaptation schemes are suggested to compensate for the variations of stator resistance. rotor resistance and load torque. In particular, the adaptation to the variation of stator resistance with a feedback linearization control is a new trial. In addition, to improve the convergence of rotor resistance estimation, the differences between stator currents and its estimates are used for the parameter adaptation. The simulations show that torque and flux are controlled independently and that the estimates of stator resistance, rotor resistance, and load torque converge to their true values. Actual experiments on a 3.7㎾ induction motor verify the effectiveness of the proposed method.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.76-85
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• 2008

Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.687-688
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• 2008