Albrektsenhiggins8564

However, the subjects interacting with the minimum-phase system are able to approximate the inverse dynamics in feedforward more accurately than the subjects interacting with the nonminimum-phase system. This observation suggests that nonminimum-phase zeros are an impediment to approximating inverse dynamics in feedforward. Finally, we provide evidence that humans rely on feedforward-step-like-control strategies with systems (e.g., nonminimum-phase systems) for which it is difficult to approximate the inverse dynamics in feedforward.Rank minimization is widely used to extract low-dimensional subspaces. As a convex relaxation of the rank minimization, the problem of nuclear norm minimization has been attracting widespread attention. However, the standard nuclear norm minimization usually results in overcompression of data in all subspaces and eliminates the discrimination information between different categories of data. To overcome these drawbacks, in this article, we introduce the label information into the nuclear norm minimization problem and propose a labeled-robust principal component analysis (L-RPCA) to realize nuclear norm minimization on multisubspace data. Compared with the standard nuclear norm minimization, our method can effectively utilize the discriminant information in multisubspace rank minimization and avoid excessive elimination of local information and multisubspace characteristics of the data. Then, an effective labeled-robust regression (L-RR) method is proposed to simultaneously recover the data and labels of the observed data. Experiments on real datasets show that our proposed methods are superior to other state-of-the-art methods.Rule-based fuzzy models play a dominant role in fuzzy modeling and come with extensive applications in the system modeling area. #link# Due to the presence of system modeling error, it is impossible to construct a model that fits exactly the experimental evidence and, at the same time, exhibits high generalization capabilities. To alleviate these problems, in this study, we elaborate on a realization of granular outputs for rule-based fuzzy models with the aim of effectively quantifying the associated modeling errors. Through analyzing the characteristics of modeling errors, an error model is constructed to characterize deviations among the estimated outputs and the expected ones. The resulting granular model comes into play as an aggregation of the regression model and the error model. Information granularity plays a central role in the construction of granular outputs (intervals). The quality of the produced interval estimates is quantified in terms of the coverage and specificity criteria. The optimal allocation of information granularity is determined through a combined index involving these two criteria pertinent to the evaluation of interval outputs. A series of experimental studies is provided to demonstrate the effectiveness of the proposed approach and show its superiority over the traditional statistical-based method.In this article, we refocus on the distributed observer construction of a continuous-time linear time-invariant (LTI) system, which is called the target system, by using a network of observers to measure the output of the target system. Each observer can access only a part of the component information of the output of the target system, but the consensus-based communication among them can make it possible for each observer to estimate the full state vector of the target system asymptotically. The main objective of this article is to simplify the distributed reduced-order observer design for the LTI system on the basis of the consensus communication pattern. For observers interacting on a directed graph, we first address the problem of the distributed reduced-order observer design for the detectable target system and provide sufficient conditions involving the topology information to guarantee the existence of the distributed reduced-order observer. Then, the dependence on the topology information in the sufficient conditions will be eliminated by using the adaptive strategy and so that a completely distributed reduced-order observer can be designed for the target system. Finally, some numerical simulations are proposed to verify the theoretical results.This article presents a novel design of a prosthetic foot that features adaptable stiffness that changes according to the speed of ankle motion. The motivation is the natural graduation in stiffness of a biological ankle over a range of ambulation tasks. The device stiffness depends on rate of movement, ranging from a dissipating support at very slow walking speed, to efficient energy storage and return at normal walking speed. Enpp-1-IN-1 mouse is to design a prosthetic foot that provides a compliant support for slow ambulation, without sacrificing the spring-like energy return beneficial in normal walking. The design is a modification of a commercially available foot and employs material properties to provide a change in stiffness. The velocity dependent properties of a non-Newtonian working fluid provide the rate adaptability. Material properties of components allow for a geometry shift that results in a coupling action, affecting the stiffness of the overall system. The function of an adaptive coupling was tested in linear motion. A prototype prosthetic foot was built, and the speed dependent stiffness measured mechanically. Furthermore, the prototype was tested by a user and body kinematics measured in gait analysis for varying walking speed, comparing the prototype to the original foot model (non-modified). Mechanical evaluation of stiffness shows increase in stiffness of about 60% over the test range and 10% increase between slow and normal walking speed in user testing.Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb movement in motion-based interfaces. Previous studies demonstrated that developing human-prosthetic synergies in joint-space must consider individual motor behaviour and the intended task to be performed, requiring personalisation and task calibration. In this work, an alternative synergy-based strategy, utilising a synergistic relationship expressed in task-space, is proposed. This task-space synergy has the potential to replace the need for personalisation and task calibration with a model-based approach requiring knowledge of the individual user's arm kinematics, the anticipated hand motion during the task and voluntary information from the prosthetic user. The proposed method is compared with surface electromyography-based and joint-space synergy-based prosthetic interfaces in a study of motor behaviour and task performance on able-bodied subjects using a VR-based transhumeral prosthesis.