TORQUE

作品数：381被引量：643H指数：12
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相关作者：石京燕孙功星孙泉云王红宁张洋更多>>
相关机构：中国科学院中国科学院大学东南大学北京理工大学更多>>
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相关基金：国家自然科学基金中国博士后科学基金国家重点基础研究发展计划北京市自然科学基金更多>>
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Miniaturized silicon-based capacitive six-axis force/torque sensor with large range, high sensitivity, and low crosstalk
《Microsystems & Nanoengineering》2024年第6期133-149,共17页Renjie Tan Yong Xia Xiangguang Han Linya Huang Wendi Gao Chen Jia Ping Yang Qijing Lin Shujiang Ding Chenying Wang Libo Zhao 
supported in part by the National Key Research&Development(R&D)Program of China(Grant No.2022YFB3204800);National Natural Science Foundation of China(Grant Nos.U1909221 and 52305615);Chongqing Natural Science Basic Research Project(Grant No.cstc2021jcyj-msxmX0801).
Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet t...
关键词：CROSSTALK SHAPED TORQUE 
Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton
《Chinese Journal of Mechanical Engineering》2024年第2期83-99,共17页Yibo Han Hongtao Ma Yapeng Wang Di Shi Yanggang Feng Xianzhong Li Yanjun Shi Xilun Ding Wuxiang Zhang 
Supported by National Key R&D Program of China(Grant No.2022YFB4701200);National Natural Science Foundation of China(NSFC)(Grant Nos.T2121003,52205004).
The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings.Complex modeling errors of the exoskeleton in different application scenarios pose challenges to the ...
关键词：Lower limb exoskeleton Model compensation RBF neural network Computed torque method 
Self-adaptive rolling motion for snake robots in unstructured environments based on torque control
《Biomimetic Intelligence & Robotics》2023年第3期59-66,共8页Shihao Ma Fatao Qin Shufan Chen Longchuan Li Jianming Wang Zengzeng Wang Shuai Li Xuan Xiao 
supported by the National Natural Science Foundation of China(62072335);Fundamental Research Funds for the Central Universities,China(buctrc202215).
Snake robots have great potential for exploring and operating in challenging unstructured environments,such as rubble,caves,and narrow pipelines.However,due to the complexity and unpredictability of unstructured envir...
关键词：Snake robot Torque-based control Self-adaptive rolling gait Unstructured environments 
Stochastic spin-orbit-torque device as the STDP synapse for spiking neural networks被引量：1
《Science China(Physics,Mechanics & Astronomy)》2023年第5期188-194,共7页Haotian Li Liyuan Li Kaiyuan Zhou Chunjie Yan Zhenyu Gao Zishuang Li Ronghua Liu 
supported by the National Natural Science Foundation of China(Grant No.12074178);the Open Research Fund of Jiangsu Provincial Key Laboratory for Nanotechnology.
Neuromorphic hardware,as a non-Von Neumann architecture,has better energy efficiency and parallelism than the conventional computer.Here,with the numerical modeling spin-orbit torque(SOT)device using current-induced S...
关键词：spin-orbit torque neuromorphic hardware spiking neural network stochastic magnetization reversal 
Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays被引量：1
《IEEE/CAA Journal of Automatica Sinica》2023年第2期388-402,共15页Xian Yang Jing Yan Changchun Hua Xinping Guan 
supported in part by the National Science Foundation(NSF)of China(61973263);the National Natural Science Foundation of China Outstanding Youth Fund(62222314);Youth Talent Program of Hebei(BJ2020031,BJ2019047);the Excellent Youth Project for NSF of Hebei Province(F2021203056);the Distinguished Young Foundation of Hebei Province(F2022203001);the Central Guidance Local Foundation of Hebei Province(226Z3201G);the Three-Three-Three Foundation of Hebei Province(C20221019);the Innovation Capability Improvement Plan Project of Hebei Province(22567626H)。
Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements...
关键词：Asymptotic stability bilateral teleoperation time-varying delay velocity observer 
Comparative Investigation of Torque-ripple Suppression Control Strategies Based on Torque-sharing Function for Switched Reluctance Motor被引量：1
《CES Transactions on Electrical Machines and Systems》2022年第2期170-178,共9页Tong Chen Guoyang Cheng 
This work was supported in part by National Natural Science Foundation of China under Grant 51977040.
Torque ripple is an inherent property of switched reluctance motor(SRM),which seriously affects the control performance and application of the motor.This paper proposes two torque ripple suppression control strategies...
关键词：Switched reluctance motor analytical model torque ripple suppression torque-sharing function(TSF) 
Optimal Motion Planning of the Space Manipulator for Minimum Reaction Torque to Satellite
《Journal of Harbin Institute of Technology(New Series)》2022年第2期81-91,共11页Zhiqiang Xu Xiangxin Zeng Jinghui Li Zhaoyan Jia 
For the problem of free⁃floating space robot(FFSR)that the motion of manipulator will cause a large disturbance to the attitude of satellite,a path planning method based on hp⁃adaptive Gauss pseudospectral method(hp⁃A...
关键词：free⁃floating space robot hp-adaptive Gauss pseudospectral method path planning nonlinear programming 
Robot-aided fN∙m torque sensing within an ultrawide dynamic range
《Microsystems & Nanoengineering》2021年第1期51-61,共11页Shudong Wang Xueyong Wei Haojian Lu Ziming Ren Zhuangde Jiang Juan Ren Zhan Yang Lining Sun Wanfeng Shang Xinyu Wu Yajing Shen 
supported by the National Key R&D Program of China(No.2018YFB2002303);the National Natural Science Foundation of China(Nos.52075432,61922093,U1813211,6207330);Hong Kong RGC General Research Fund CityU(11211720);ShenZhen(China)Key Basic Research Project(No.JCYJ20200109114827177).
In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena.However,as one ...
关键词：TORSION PRECISE dynamic 
An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance被引量：9
《Frontiers of Information Technology & Electronic Engineering》2020年第5期723-739,共17页Tian-miao WANG Xuan PEI Tao-gang HOU Yu-bo FAN Xuan YANG Hugh MHERR Xing-bang YANG 
Project supported by the National Natural Science Foundation of China(No.61703023);Beijing Municipal Natural Science Foundation,China(No.3184054);China Scholarship Council(No.201706025021);National Undergraduate Training Programs for Innovation and Entrepreneurship(No.201910006118)。
Lower-limb assisted exoskeletons are widely researched for movement assistance or rehabilitation training.Due to advantages of compliance with human body and lightweight,some cable-driven prototypes have been develope...
关键词：Ankle exoskeleton Plantarflexion-dorsiflexion bidirectional assistance Biological gait torque CABLE-DRIVEN Gait detection 
Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by Pneumatic Muscle Actuators被引量：5
《Chinese Journal of Mechanical Engineering》2019年第5期80-94,共15页Kai Liu Yining Chen Jiaqi Xu Yang Wu Yonghua Lu Dongbiao Zhao 
Supported by National Natural Science Foundation of China(Grant No.51405229);Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20151470)
A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic ma...
关键词：PNEUMATIC MUSCLE actuator BIONIC flexible manipulator COMPUTED TORQUE method FUZZY TORQUE control 
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