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229) 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.
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.
=>制度組織体系的方式, システム, 組織, 整然とした手順, (思想などの)体系, 体制
Overview of noun system
The noun system has 9 senses (first 8 from tagged texts)
1. (43) system -- (instrumentality that combines interrelated interacting artifacts designed to work
as a coherent entity; "he bought a new stereo system"; "the system consists of a motor and a small
computer")
2. (23) system, scheme -- (a group of independent but interrelated elements comprising a unified
whole; "a vast system of production and distribution and consumption keep the country going")
3. (14) system -- ((physical chemistry) a sample of matter in which substances in different phases
are in equilibrium; "in a static system oil cannot be replaced by water on a surface"; "a system
generating hydrogen peroxide")
4. (10) system, system of rules -- (a complex of methods or rules governing behavior; "they have to
operate under a system they oppose"; "that language has a complex system for indicating gender")
5. (8) arrangement, organization, organisation, system -- (an organized structure for arranging or
classifying; "he changed the arrangement of the topics"; "the facts were familiar but it was in the
organization of them that he was original"; "he tried to understand their system of classification")
6. (7) system -- (a group of physiologically or anatomically related organs or parts; "the body has
a system of organs for digestion")
7. (6) system -- (a procedure or process for obtaining an objective; "they had to devise a system
that did not depend on cooperation")
8. (1) system -- (the living body considered as made up of interdependent components forming a
unified whole; "exercise helped him get the alcohol out of his system")
9. organization, organisation, system -- (an ordered manner; orderliness by virtue of being
methodical and well organized; "his compulsive organization was not an endearing quality"; "we can't
do it unless we establish some system around here")
--- WordNet end ---