ELIZA

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244) The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device.

--- ABSTRACT ---

PMID:23495753 DOI:10.1080/10255842.2013.774380

2015 Computer methods in biomechanics and biomedical engineering

* Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise; part II: control development and testing.

- Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device. A human quadriceps dynamic simulator was developed (as described in Part I of this work) so that control effectiveness and accommodation could be tested prior to human implementation. Tracking error results indicate that the control system is effective at producing PMA displacement and resistance necessary for a scaled, simulated neuromuscular actuator to maintain low-velocity isokinetic movement during simulated concentric and eccentric knee extension.

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--- WordNet output for based --- =>に基づき Overview of verb base The verb base has 3 senses (first 1 from tagged texts) 1. (75) establish, base, ground, found -- (use as a basis for; found on; "base a claim on some observation") 2. base -- (situate as a center of operations; "we will base this project in the new lab") 3. free-base, base -- (use (purified cocaine) by burning it and inhaling the fumes) Overview of adj based The adj based has 2 senses (first 2 from tagged texts) 1. (3) based -- (having a base; "firmly based ice") 2. (1) based -- (having a base of operations (often used as a combining form); "a locally based business"; "an Atlanta-based company"; "carrier-based planes") --- WordNet end ---