Browsing by Author "Huang, Jian-Bin"

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Development of Upper-Limb Exoskeleton Simulator for Passive Rehabilitation
(2014)
Huang, Jian-Bin
;
Hong, Jing-Chen
;
Young, Kuu-Young
;
Ko, Chun-Hsu
;
電子工程學系及電子研究所
Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.
Effective Control for an Upper-Body Exoskeleton Robot Using ANFIS
(2016)
Huang, Jian-Bin
;
Young, Kuu-Young
;
Ko, Chun-Hsu
;
電子工程學系及電子研究所
;
Department of Electronics Engineering and Institute of Electronics
In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.
Motion and Visual Control for an Upper-Limb Exoskeleton Robot via Learning
(2017-01-01)
Huang, Jian-Bin
;
Lin, I-Yu
;
Young, Kuu-Young
;
Ko, Chun-Hsu
;
電子工程學系及電子研究所
The arrival of an aging society brings up many challenges, including the demanding need in medical resources. In responding, the exoskeleton robot becomes one of the focuses, which provides assistance for people with locomotive problems. Motivated by it, our laboratory has developed a wearable upper-limb exoskeleton robot, named as HAMEXO. It is of 2 DOF and intended to provide motion assistance for users in their daily activities. To serve the purpose, HAMEXO is equipped with a visual system to detect objects in the environment, and also a motion controller for its governing. To deal with the coupling involved during the movements of the two joints and the need to adapt to various users, we adopted the learning approach for controller design. Experiments are performed to demonstrate its effectiveness.