文献类型：会议论文

英文题名：Neural-network inverse dynamic online learning control on physical exoskeleton

作者：Cao, Heng[1]; Yin, Yuhai[1]; Du, Ding[1]; Lin, Lizong[1]; Gu, Wenjin[2]; Yang, Zhiyong[2]

机构：[1]E China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]Navy Aeronaut Engn Coll, Yantai, Shandong, Peoples R China

会议论文集：13th International Conference on Neural Informational Processing

会议日期：OCT 03-06, 2006

会议地点：Hong Kong, PEOPLES R CHINA

语种：英文

外文关键词：Algorithms - Learning systems - Neural networks - Online systems - Parameter estimation - Sensor data fusion

摘要：Exoskeleton system which is to assist the motion of physically weak persons such as disabled, injured and elderly persons is discussed in this paper. The proposed exoskeletons are controlled basically based on the electromoyogram (EMG) signals. And a mind model is constructed to identify person's mind for predicting or estimating person's behavior. The proposed mind model is installed in an exoskeleton power assistive system named IAE for walking aid. The neural-network is also be used in this system to help learning. The on-line leaming adjustment algorithm based on multi-sensor that are fixed on the robot is designed which makes the locomotion stable and adaptable.