报告人：易劲刚教授
时 间：2016-4-13（周三）10:00-11:00
地 点：玉泉校区液压老楼四楼会议室
欢迎各位老师和同学的积极参加！
Modeling, Sensing and Control of Human Bipedal Walking with Foot Slip
Abstract:
Human walking is a fundamental locomotion that is developed at an early stage in our lives. Maintaining stable walking capability demands a substantial effort and requires synchronization and coordination of neurological, sensorimotor and musculoskeletal systems. Disturbances such as foot slip require even more demanding walking control strategies for successful recovery and fall prevention. It is however challenging to capture and model human motion and reaction to foot slip. In this talk, I will first present modeling of foot slip evolution to understand how the foot slip is generated. I will then discuss a new bipedal modeling approach to relax the non-slip assumption used in the existing literature. In the third part, I will present a novel real-time foot slip detection method using only wearable inertial measurement units (IMUs). The developed slip-prediction algorithm is built on the bipedal dynamic model and is also integrated with human locomotion constraints. Finally, I will discuss a new two-mass LIP model for human balance control during normal walking and walking with foot slip. We extend the capture point (CP)-based control approach and incorporate time-varying locations of the zero moment point (ZMP) and the LIP pivoting location. I will finish this talk by briefly describing the design and fabrication of a wearable robotic knee assistive device for slip-induced fall prevention. If time permits, I will also briefly present various other research projects at the Robotics, Automation and Mechatronics (RAM) Lab at Rutgers University.
Brief Biography:
Professor Jingang Yi received the B.S. degree in electrical engineering from Zhejiang University in 1993, the M.Eng. degree in precision instruments from Tsinghua University in 1996, and the M.A. degree in mathematics and the Ph.D. degree in mechanical engineering from the University of California, Berkeley, in 2001 and 2002, respectively. He is currently an Associate Professor of Mechanical Engineering at Rutgers University, USA. His research interests include autonomous robotic and vehicle systems, dynamic systems and control, mechatronics, automation science and engineering, with applications to biomedical systems, transportation systems and civil infrastructure systems. Prof. Yi has received many prestigious awards, including the 2015 Distinguished Visiting Scholars, University of Technology, Sydney (UTS), Australia, the 2014 ASCE Charles Pankow Award for Innovation, the 2013 Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, and the 2010 U.S. National Science Foundation (NSF) CAREER Award. He has coauthored papers that have been awarded several best papers at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, ASME Dynamic Systems and Control Conference, and IEEE International Conference on Robotics and Automation. He has served as an Associate Editor for the IEEE Transactions on Automation Science and Engineering, the IFAC journal Control Engineering Practice, the ASME Journal of Dynamic Systems, Measurement and Control, and the IEEE Robotics and Automation Society Conference Editorial Board (since 2008) and many other international conferences editorial boards. Prof. Yi is the past Chair of the Mechatronics Technical Committee in ASME Dynamic Systems and Control Division and the Program Chair of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics. His research has been supported by the NSF, NIST, FHWA, NASA, and other agencies and industry in the U.S. and China.
足底打滑时人体行走过程建模，传感与控制
报告摘要：
步行是人类在幼年时期形成的一项基本运动，保持步行的稳定性需要一系列的努力包括神经系统，感觉运动系统，肌肉骨骼系统之间的协调与同步工作。步行时，如出现足底打滑，则需要更强的控制策略来恢复身姿和防止摔倒。捕捉人对足底打滑的反应以及对这一过程建模是一项具有挑战性的课题。
在这次报告中，首先，我通过介绍足底打滑建模的发展史来理解足底打滑是如何产生的；然后，讨论一种新的双足模型方法，这种新方法不需要基于现有文献广泛采用的无打滑的假设；在第三部分，我会介绍一种新型的基于惯性传感器(IMU)的实时足底打滑检测方法，提出的打滑预测算法建立在双足动态模型上，并整合了人体运动约束。最后，讨论一个新的适用于人体正常行走和足底打滑的平衡控制双质量块 LIP 模型，在这个模型中，我们扩展了基于捕捉点的控制方法并合并了随时间变化的零力矩点(ZMP)和LIP 旋转点。
另外，我会介绍一种穿戴式膝关节辅助装置的设计与制造，该装置用来防止足底打滑引起的跌倒。如时间允许，我再简要介绍一下罗格斯大学机器人与自动化实验室的其他研究课题。
易劲刚教授的个人简历：
易教授于1993年获浙江大学机械电子工程专业学士学位，1996年获清华大学精密仪器专业工程硕士学位，分别于2001年、2002年获美国加州大学伯克利分校数学专业理学硕士、机械工程专业博士。易教授现已评为副教授（终身制），并担任罗格斯大学电子工程和计算机系的研究生院教员职务。他的研究涉及自主机器人系统、机电一体化、动态系统及控制、自动化科学与工程，并将研究成果用于生物医学系统、城市基础设施和交通系统以及半导体制造。易教授被授予多种享有声望的奖励，他也是多篇国际学术期刊的审稿人。