paint-brush
Leswaku Ha Yini Ti- Exoskeleton Tin’wana Ti Endla Leswaku Ku Famba Swi Olovela Ku Tlula Tin’wanahi@exoself

Leswaku Ha Yini Ti- Exoskeleton Tin’wana Ti Endla Leswaku Ku Famba Swi Olovela Ku Tlula Tin’wana

hi Exoself Technology Research
Exoself Technology Research HackerNoon profile picture

Exoself Technology Research

@exoself

Exoself fuses technology and soul, amplifying abilities, and redefining limits,...

4 min read2025/01/24
Read on Terminal Reader
Read this story in a terminal
Print this story
tldt arrow
ts-flagTS
Hlaya xitori lexi hi Xitsonga!
en-flagEN
Read this story in the original language, English!
es-flagES
Lee esta historia en Español!
pt-flagPT
Leia esta história em português!
ja-flagJA
この物語を日本語で読んでください!
fi-flagFI
Lue tämä tarina suomeksi!
ro-flagRO
Citiți această poveste în limba română!
ta-flagTA
இந்த கதையை தமிழில் படியுங்கள்!
bg-flagBG
Прочетете тази история на български!
he-flagHE
קרא את הסיפור הזה בעברית!
az-flagAZ
Bu hekayəni Azərbaycan dilində oxuyun!
iw-flagIW
קרא את הסיפור הזה בעברית!
sr-flagSR
Прочитајте ову причу на српском!
TS

Ku leha ngopfu; Ku hlaya

Nxopaxopo wa IP wu paluxa leswaku AMTC yi kurisa ku nghenelela loku tirhaka ka vatirhisi, lokunene eka ku vuyisa, kasi HTC yi hunguta ku tikarhata, ku fambelana na swilaveko swa tiindasitiri. Metrics nkongomiso wa ku antswisiwa ka mulawuri.
featured image - Leswaku Ha Yini Ti- Exoskeleton Tin’wana Ti Endla Leswaku Ku Famba Swi Olovela Ku Tlula Tin’wana
Exoself Technology Research HackerNoon profile picture
Exoself Technology Research

Exoself Technology Research

@exoself

Exoself fuses technology and soul, amplifying abilities, and redefining limits, where the self evolves beyond boundaries

0-item

STORY’S CREDIBILITY

Academic Research Paper

Academic Research Paper

Part of HackerNoon's growing list of open-source research papers, promoting free access to academic material.

Vatsari: .

(1) Mohammad Shushtari, Ndzawulo ya Vuinjhiniyere bya Michini na Mechatronics, Yunivhesiti ya Waterloo (smshushtari@uwaterloo.ca);

(2) Julia Foellmer, Ndzawulo ya Makhanikhi na Vuinjhiniyere bya Lwandle, Yunivhesiti ya Thekinoloji ya Hamburg (julia.foellmer@tuhh.de);

(3) Sanjay Krishna Gouda, Ndzawulo ya Vuinjhiniyere bya Michini na Mechatronics, Yunivhesiti ya Waterloo na Nhlangano wa ku Vuyeteriwa wa Toronto (KITE), Netiweke ya Rihanyo ya Yunivhesiti (arash.arami@uwaterloo.ca).

Tafula ra Swihlanganisi

Xitlhokovetselo na 1 Xingheniso

2 Vuyelo bya kona

2.1 Data yo Sungula leyi Endliweke ya Mutekaxiave wa Muyimeri

2.2 Nxopaxopo wa Matirhelo hi ku angarhela

2.3 Nxopaxopo wa Swifaniso swa Ntirhisano

2.4 Qhinga ra ku Cinca ka Munhu hi Xiyexe

3 Bulo

3.1 Ku Cinca ka Vanhu

3.2 Nkoka wa Nxopaxopo wa IP

4 Mahetelelo

5 Maendlelo

5.1 Maendlelo ya Vulawuri bya Feedforward

5.2 Ku Hlela ka Swikambelo

5.3 Phurotokholo ya Swikambelo

5.4 Nxopaxopo wa Data

Switiviso

Xiengetelo xa A Xikombiso xa Data yo Engetela

Xiengetelo xa B Ku pimanisiwa na Ku Famba ka Ntumbuluko

Swikombo

3.2 Nkoka wa Nxopaxopo wa IP

Eka Fig. 3A, matshalatshala ya le hansi ya misiha hinkwayo hinkwayo hi nkarhi wo famba na HTC na AMTC loko ku pimanisiwa na TBC ya fambisana na mpimo wa vona wa le hansi wa metabolic hi ku xixima TBC, leswi kombisaka leswaku valawuri havambirhi va hunguta matshalatshala yo famba ku tlula exoskeleton leyi lawuriwaka hi TBC. Hambiswiritano, ntshamiseko lowu fanaka a wu voniwanga eka torque ya vuhlanganisi hinkwabyo, laha HTC yi endleke leswaku ku va na torque ya vuhlanganisi ya le henhla loko ku pimanisiwa na


Fig. 7 Ku hundzuka ka xiyenge xa IP eka goza rin’wana na rin’wana eka rivilo ro hambana ro famba eka vatekaxiave vambirhi va xikombiso. Tilayini ta le henhla na le hansi ti kombisa ku hundzuka ka xiyenge xa IP eka ku famba hi rivilo ro nonoka swinene, ro nonoka, na ro ringanela eka yin’wana na yin’wana ya timhaka ta TBC→HTC na TBC→AMTC eka vatekaxiave #3 na #6, hi ku landzelelana.

Fig. 7 Ku hundzuka ka xiyenge xa IP eka goza rin’wana na rin’wana eka rivilo ro hambana ro famba eka vatekaxiave vambirhi va xikombiso. Tilayini ta le henhla na le hansi ti kombisa ku hundzuka ka xiyenge xa IP eka ku famba hi rivilo ro nonoka swinene, ro nonoka, na ro ringanela eka yin’wana na yin’wana ya timhaka ta TBC→HTC na TBC→AMTC eka vatekaxiave #3 na #6, hi ku landzelelana.


TBC. Leswi swi kombisa leswaku hambi leswi HTC na AMTC havumbirhi bya swona swi hunguteke mpimo wa metaboliki ya vatirhisi na matshalatshala ya misiha, va khutaze vatirhisi ku amukela tindlela timbirhi to hambana ta vuhlanganisi. Nxopaxopo wa IP wu ya emahlweni wu lavisisa mbuyelo wa mulawuri un’wana na un’wana eka matirhelo ya mutekaxiave un’wana na un’wana hi ku xopaxopa ku hambana eka matshalatshala hinkwawo ya misiha hi ku xixima ku hambana eka torque hinkwayo ya vuhlanganisi bya munhu na exoskeleton. Fig. 4 yi paluxa leswaku ku hunguteka ka metabolic rate ku humelerile hi ku ya hi tindlela timbirhi to hambana ta ku cinca ka vanhu. Eka mulawuri wa HTC, vatirhisi va tshike vulawuri eka exoskeleton, hi ku nga endli nchumu va landzela ku famba ka exoskeleton. Ku hambana na sweswo, AMTC yi khutazile vatirhisi ku rhangela nsusumeto hi ku gingiriteka swinene. Nxopaxopo wa hina wa IP wu ringanyeta leswaku mulawuri wa HTC u lulamerile swinene eka switirhisiwa leswi lavaka ku engeteriwa ka matimba, ku fana na le ka swivandla swa tiindasitiri swa vatirhi kumbe tindhawu ta nhlayiso wa rihanyo eka vaongori. Eka swiyimo leswi, xikongomelonkulu i ku hunguta ku tikarhata ka vanhu, hi ndlela yoleyo ku ndlandlamuxa vuswikoti bya matirhelo na vuhlayiseki. Hi ndlela yo hambana, mulawuri wa AMTC u kombisa xitshembiso lexikulu eka swiyimo swa ku vuyisa eka vanhu lava nga na mintirho ya motor leyi saleke, ku fana na lava nga na ku vaviseka ka nkolo loku nga helelangiki kumbe swiyimo swa le ndzhaku ka xifo xa ku pfimba ka misiha. Laha, xilaveko i ku katsa mutirhisi hi xihatla eka ku hetisisiwa ka ntirho, xisweswo ku kurisa mintirho ya vona ya motor na ku hatlisisa maendlelo yo vuyisa.


Fig. 4 yi tlhela yi kombisa leswaku vatekaxiave vo hambana va amukerile maqhinga lama nga cincekiki swinene na AMTC loko ku pimanisiwa na HTC, tanihileswi ti vector ta IP ta xikarhi eka vatekaxiave hinkwavo ti kombisaka ku hambana ka le hansi na AMTC loko ku pimanisiwa na mulawuri wa HTC.


Ku hangalasiwa ka IP hi koxe ku nga tlhela ku voningela matimba ya maqhinga lama amukeriweke eka mutekaxiave un’wana na un’wana ku ya hi radius ya ti vectors leti vumbeke IP. Leswi swi vonaka ngopfu eka Fig. 5 laha nsonga yin’wana na yin’wana ya IP yi yimelaka ku hambana ka matshalatshala ya misiha na torque ya vuhlanganisi leyi kumiweke eka goza rin’wana na rin’wana. Tanihi xikombiso, nxopaxopo wa IP eka Fig. 5 wu paluxa leswaku Mutekaxiave #3 (layini ya vumbirhi, kholomo ya vumbirhi) na Mutekaxiave #6 (layini ya vumbirhi, kholomo yo sungula) va amukerile maqhinga yo fana ya vuhlanganisi na mulawuri wa AMTC loko ku pimanisiwa na TBC. Leswi, hambiswiritano, i swa nkoka swinene eka Mutekaxiave #6 hikwalaho ka radius leyikulu ya tinhla leti hangalasiweke loko ku pimanisiwa na ta Mutekaxiave #3.


Hi ku tirhisa nxopaxopo wa IP, swa koteka ku landzelela ku cinca ka maqhinga lama amukeriweke ku tsemakanya xitepisi eka rivilo rin’wana na rin’wana ro famba. Fig. 7, tanihi xikombiso, yi kombisa ku hundzuka ka xiyenge xa IP eka yin’wana na yin’wana ya ku pimanisiwa ka TBC→HTC na TBC→AMTC eka vatekaxiave #3 na #6, hi ku landzelelana. Swi ringanyetiwa hi ku hambana lokukulu eka xiyenge xa IP, Mutekaxiave #3 a nga hlangana na maqhinga ya vuhlanganisi lama nga cincekiki na valawuri va HTC kumbe AMTC hi nkarhi wa ku famba hi ku nonoka swinene. Ku pfumaleka loku ka ku hlangana eka ku tirhisana loku nga cincekiki na exoskeleton swi pfumelelana na ku tika ka hina ku hlayisa ku olova na ku ya emahlweni ka ku fambafamba ka ultra-slow, swi nga ha hlamuseriwa hi swipimelo swa dynamic primitives leswi talaka ku yisa eka ku fambafamba loku avaneke (Park, et al., 2017). Eka ku famba hi ku nonoka, hambiswiritano, mutirhisi u amukerile maqhinga lama nga cincekiki swinene hi ku tirhisa AMTC, leswi kombisiweke hi ku hambana ka le hansi eka xiyenge xa IP. Eka mhaka ya mulawuri wa HTC, maqhinga ya mutekaxiave ya tshama ya nga fambisani. Ntsena eka mhaka ya ku famba hi rivilo ro ringanela laha Mutekaxiave #3 a koteke ku hlangana eka tindlela ta vuhlanganisi leti nga cincekiki havumbirhi na valawuri va AMTC na va HTC. Nxopaxopo wa hina wa IP eka mhaka leyi wu kombisa leswaku AMTC yi hungute ku tirhisana ka munhu na exoskeleton, kambe mutirhisi a nga kumanga hi ku helela vulawuri bya ku famba kumbe ku humesa ku famba eka exoskeleton, tanihileswi xiyenge xa IP xa ha ri eka kotara ya vunharhu. Eka thecase ya HTC controller, mutirhisi u titshege ngopfu hi mpfuneto wa exoskeleton tani hileswi xiphemu xa IP ngopfu ngopfu xi hlanganisiweke eka 4th quadrant. Mutekaxiave #6, ku hambana na Mutekaxiave #3, u hlanganile eka ku tirhisana loku nga cincekiki na exoskeleton eka rivilo hinkwaro rinharhu ro famba. Mulawuri wa HTC, ku nga khathariseki rivilo ro famba, u kongomise mutekaxiave ku titshega ngopfu hi exoskeleton tanihileswi xiphemu xa IP xi kongomisiweke ngopfu eka ndzilakano wa 3rd na 4th quadrants. Eka mhaka ya mulawuri wa AMTC, hambiswiritano, hi xiya leswaku loko rivilo ra ku famba ri ya ri kula, maqhinga ya mutirhisi ya hluvuka ngopfu ku ya eka ku rhangela ku famba na ku hoxa xandla eka vulawuri bya ku famba, leswi kombisiweke hi ku cinca ka 83-degree eka xiyenge xa IP xa xikarhi eka rivilo ro ringanela ku famba loko ku pimanisiwa na ku famba hi ku nonoka swinene.


Mimbuyelo leyi yi kombisile vuswikoti bya nxopaxopo wa IP ku nyika ku pimanisiwa loku nga na xikongomelo ka valawuri vo hambana va exoskeleton, maqhinga ya vuhlanganisi lama amukeriweke hi mutirhisi, xikan’we na ku kambela ku cinca-cinca ka mutirhisi-exoskeleton. Handle ka nxopaxopo wa le handle ka inthanete, IP yi nyika vaendli va swifaniso metric ya nhlayo leyi nga yingiseriwaka eka xiyimo xa ku antswisiwa ka munhu-in-the-loop ku lulamisa mulawuri wa exoskeleton ku ya hi swilaveko swo hlawuleka swa xitirhisiwa xin’wana na xin’wana kumbe mutekaxiave.


Phepha leri ri kumeka eka arxiv ehansi ka layisense ya CC BY-NC-ND 4.0 DEED.


L O A D I N G
. . . comments & more!

About Author

Exoself Technology Research HackerNoon profile picture
Exoself Technology Research@exoself
Exoself fuses technology and soul, amplifying abilities, and redefining limits, where the self evolves beyond boundaries

HANG TAGS

XITLHOKOVETSELO LEXI XI NYIKERIWE EKA...

Read on Terminal Reader
Read this story in a terminal
 Terminal
Read this story w/o Javascript
Read this story w/o Javascript
 Lite
Also published here
X REMOVE AD