Beruflich Dokumente
Kultur Dokumente
Hao-Ting Jhang
105 6
January 2015
(ANM)
V-REP
Abstract
In recent years, the exercise issue concerns people gradually, but traditional teaching
method may not guide people correct postures effectively. The study simulates the
postures, records the moving path for self learning through Artificial Neuromolecular
System as a learning mechanism and V-REP mechanical simulation software. The
objective of the study is to build new sports learning mechanism to help people learn
effectively and avoid sports injuries. The study controls four motors to present the serve
posture thourgh the robot arm. The results indicate that Artificial Neuromolecular
System can exactly use one goal path to calculate its time that the motors spend to
activate and the motors angles. Then, the system presents a curve which is similar to
the goal path.
Keywords: Exoskeleton
ii
................................................................................................................................... i
Abstract ............................................................................................................................. ii
................................................................................................................................. iii
.................................................................................................................. 1
1.1 ........................................................................................................... 1
1.2 ........................................................................................................... 1
.......................................................................................................... 3
2.1 (Artificial Neuro Molecular System, ANM)........................... 3
2.2 ............................................................................................................ 4
2.3 ........................................................................................................ 4
...................................................................................................... 6
3.1 ............................................................................................................ 6
3.2 ........................................................................................................... 7
3.2.1 ................................................................................... 7
3.2.2 V-REP .................................................................................................... 8
3.2.3 .............................................................................................. 10
3.3 ............................................................................................. 11
3.4 ......................................................................................................... 12
3.5 ......................................................................................................... 15
3.6 ......................................................................................................... 16
................................................................................................................ 17
4.1 ................................................................................................. 18
4.1 ................................................................................................. 27
4.2 ..................................................................................................... 28
4.2 ................................................................................................. 32
4.3 ................................................................................................. 33
4.3 .................................................................................................. 37
........................................................................................................................ 38
5.1 ................................................................................................................. 38
5.2 ......................................................................................................... 39
........................................................................................................................ 40
iii
1 ANM ......................................................................................... 4
2 ................................................................................ 5
3 HULC ................................................................................... 5
4 ............................................................................................ 6
5 .................................................. !
6 V-REP .................................................................................... 9
7 Lua ......................................................................................... 9
8 .......................................................................................... 11
9 .......................................................................... 12
10 .................................................... !
11 3D-DTW ............................................... !
12 ........................................ !
13 ................................................ !
iv
1 ........................................................................................... 11
1.1
82.4%
1.2
V-rep
(ANM)
Reference Neurons
Cytoskeletal Neurons or Enzymatic Neurons
High-Level
Reference NeuronsLow-Level Reference Neurons
(receptor neurons)
(effector neurons)
ANM
2.2
2.3
Power Suit
1960
2 680
Zero G4
HULC
3.1
(ANM)
V-REP
(ANM)-REP
(ANM)
4
3.2
3.2.1
(effector neurons)
3.2.2 V-REP
V-REPThe Virtual Robot Experimentation Platform
() (Coppelia.Robtics.Inc,2013)
V-REP Model browser
Scene heierarchy
ROBOTIS V-REP
( ) Lua
Regular API ( )
V-REP
Lua
3.2.3
AX-12+
V-REP
AX-12+
BioDigital (Producer). (2013, 2013/11/05).
BioDigital Human Explore the Body in 3D. Retrieved from
https://www.biodigitalhuman.com/
10
3.3
150 100
125
109
63
65
150
164
188
156
300
153
281
239
11
3.4
ANM
category 0
1category 2 2
(firing time) 2
category 1 0.89675
0.947990 category 1
0.051205
12
Sigmoid function ( & , 2010)
1
( 1)
1
2
( 2)
2 2
0.896785 0.947990
0.051205 2 2
-80 2 2 -29.296672
1
2
3
4
13
default angle
- 25
-80
-100
150
V-REP
50
XYZ
14
3.5
50
3D-DTW
15
3.6
ANM
V-REP
1000 3D-DTW
:
16
V-rep
V-rep
AMM
17
4.1
1000
18
4.1.1 1
19
4.1.1 2
20
4.1.3 3
1000 3DTW 14.179121
21
4.1.4 4
1000 3DTW 17.794498
22
4.1.5 5
1000 3DTW 19.72831
23
4.1.6 6
1000 3DTW 18.904551
24
4.1.7 7
1000 3DTW 21.32873
25
4.1.8 8
1000 3DTW 23.67731
26
4.1
1000 3D-DTW 1000
27
4.2
1000
DTW
28
29
30
31
4.2
4.2.5 4.2.6
32
4.3
:
1234 :23
46
4.3.1 1235
33
4.3.2 2356
4.3.3 2357
34
4.3.4 1245
35
4.3.5 2345
4.3.6 4567
1235 1000 3DTW
22.39812
36
4.3
4
4.4.4 1 2
1 2
4.3.4
37
5.1
1 1000
3D-DTW
4
3 7
1.
2.
3.
4. 4.3.4
38
5.2
39
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architecture. Biosystems32(3)1994a, pp:111-142.
Chen, J.-C and Conrad, M. (1994)A multilevel neuromolecular architecture that uses
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D: Nonlinear Phenomena75(1-3)1994b,pp: 417-437
Chen, J.-C.(1998) Problem Solving with a Perpetual Evolutionary Learning
Architecture. Applied Intelligence8(1), pp:53-71.
Coppelia.Robtics.Inc(2013).V-REP. Retrieved 12/10,2015,from
http://www.coppeliarobotics.com/features.html
Jiangcheng Chen, Xiaodong Zhang, Rui Li. (2013). A Novel Design Approach for
Lower Limb Rehabilitation Training Robot. Automation Science and Engineering
(CASE), 2013 IEEE International Conference.pp.554-557
From HULC to FORTIS: the Evolution of Lockheed Martin's Incredible Exosuit(2014)
http://www.dailytech.com/From+HULC+to+FORTIS+the+Evolution+of+Lockhee
d+Martins+Incredible+Exosuit/article36421.htm
Wikipedia. (2014/5/20). Powered exoskeleton Retrieved 12/08,2015 from
https://en.wikipedia.org/wiki/Powered_exoskeleton
(2010)-
,8,1-16
(2005)
1340002015
-2015(12)124-124
103 :
http://isports.sa.gov.tw/index.php?option=com_phocadownload&view=category&d
ownload=9:%E4%B8%AD%E8%8F%AF%E6%B0%91%E5%9C%8B103%E5%
B9%B4-%E9%81%8B%E5%8B%95%E5%9F%8E%E5%B8%82%E8%AA%BF
%E6%9F%A5&id=3:%E9%81%8B%E5%8B%95%E7%B5%B1%E8%A8%88%
E6%95%B8%E6%93%9A&Itemid=221
40