从人体上肢到康复机器人 人体上肢运动机理研究导论 英文版
作者：刘珊 著
出版时间：2010年版
内容简介
Humans are capable of performing impressive variety of movements that range from simple movements, such as looking at an object of interest by turning the head and eyes. Even the very basic ability to produce a stable walking pattern in rough unknown terrain, which is naturally generated by the biological motor control system, is an extremely difficult engineering endeavor.
目录
前折页

书名页

版权页

Preface

Contents

Chapter 1 Introduction

1.1 The Motivation

1.2 The main problem and the main thesis

1.3 Organization of the book

Chapter 2 Human motor control

2.1 Introduction

2.2 The biological system

2.1.1 The central nervous system

2.2.2 Proprioceptors and the spinal cord

2.2.3 Motor neurons, and motor units

2.2.4 The muscle and the joints

2.2.5 Limitations of the technical description

2.3 Neuromotor control strategies

2.3.1 Feedback control

2.3.2 Feed-forward control

2.3.3 Adaptive control

2.3.4 Motor planning

2.3.5 Optimal control

2.3.6 Internal models

2.3.7 Artificial neural network control

2.4 Redundancy, degeneracy and parallelism

2.4.1 Multiple feedback loops

2.4.2 Spatial filtering

2.4.3 Learning to exploit the redundancy

2.5 Mathematical modeling

2.5.1 Theoretical muscle modeling

2.5.2 Modeling assumptions

2.5.3 Muscle contraction

2.5.4 Musculoskeletal system

2.5.5 Muscle model

2.5.6 Arm model

Chapter 3 Studying motor control

3.1 The inverse control problem

3.2 Forward model

3.3 Inverse model

3.4 Trajectory planning

3.5 Optimal control

3.6 Adaptive control

3.7 Hierarchical control

3.8 Neural network control

3.9 Reinforcement learning

3.10 Impedance control

3.11 End-effector control

Chapter 4 Motor learning and rehabilitation robot

4.1 Human-robot interaction

4.2 Motor learning

4.3 Current view of rehabilitation robot

4.4 Problem in current view

Chapter 5 Posture control of the upper limb

5.1 Posture control

5.2 Artificial neural network control

5.3 Multilayer perceptron network controller

5.3.1 Structure

5.3.2 Training algorithm

5.3.3 Simulation results

5.3.4 Discussion

5.4 Multivariable sliding-mode-based fuzzy CMAC

5.4.1 Problem formulation

5.4.2 Sliding-mode-based fuzzy CMAC

5.4.3 Training algorithm

5.4.4 Stability analysis

5.4.5 Simulation results

Chapter 6 Trajectory tracking control of the upper limb

6.1 Trajectory tracking control

6.2 Evolutionary diagonal recurrent neural network

6.2.1 Overview

6.2.2 Muscle model

6.2.3 Control system structure

6.2.4 Structure of the DRNN

6.2.5 Optimization of the DRNN Structure

6.2.6 DRNN Weight Training

6.2.7 Simulation Results

6.2.8 Discussion

6.3 Sliding-mode-based diagonal recurrent CMAC

6.3.1 Overview

6.3.2 Problem formulation

6.3.3 Sliding mode controller

6.3.4 SDRCMAC Architecture

6.3.5 Training algorithm

6.3.6 Stability analysis

6.3.7 Implementations and results

Chapter 7 Human-robot control system

7.1 Overview

7.2 Human-robot system

7.2.1 Structure

7.2.2 Function of patients’ voluntary torque

7.2.3 Dynamic model

7.2.4 Control requirement

7.3 Sliding mode controller

7.3.1 Problem formulation

7.3.2 Controller design

7.3.3 Stability of the Control System

7.3.4 Simulation results

7.3.5 Summary and discussion

7.4 Robust control system

7.4.1 Controller architecture

7.4.2 Robust controller

7.4.3 Simulation results

7.4.4 Experimental results

7.4.5 Summary and discussion

7.5 SDRCMAC

Reference