Cover -- Mechatronics -- Title Page -- Copyright Page -- Table of Contents -- Preface -- Chapter 1. Mechatronics Systems Based on CAD/CAM -- 1.1. Introduction -- 1.2. Five-axis NC machine tool with a tilting head -- 1.3. Three-axis NC machine tool with a rotary unit -- 1.3.1. Introduction -- 1.3.2. Post-processor for a three-axis NC machine tool with a rotary unit -- 1.3.3. Experiment -- 1.4. Articulated-type industrial robot -- 1.4.1. Introduction -- 1.4.2. For sanding a wooden workpiece -- 1.4.3. For mold finishing -- 1.5. Desktop Cartesian-type robot -- 1.5.1. Background -- 1.5.2. Cartesian-type robot -- 1.5.3. Design of weak coupling control between force feedback loop and position feedback loop -- 1.5.4. Frequency characteristic of force control system -- 1.5.5. Finishing experiment of an LED lens mold -- 1.6. Conclusions -- 1.7. Bibliography -- Chapter 2. Modeling and Control of Ionic Polymer-Metal Composite Actuators for Mechatronics Applications -- 2.1. Introduction -- 2.2. Electromechanical IPMC model -- 2.2.1. Nonlinear electric circuit -- 2.2.2. Electromechanical coupling -- 2.2.3. Mechanical beam model -- 2.2.4. Parameter identification and results -- 2.3. IPMC stepper motor -- 2.3.1. Mechanical design -- 2.3.2. Model integration and simulation -- 2.3.3. Experimental validation -- 2.3.4. Extension to four IPMCs -- 2.4. Robotic rotary joint -- 2.4.1. Mechanical design -- 2.4.2. Control system -- 2.4.3. System parameter tuning -- 2.4.4. Experimental tuning results -- 2.4.5. Gain schedule nonlinear controller -- 2.4.6. Gain schedule vs. PID controller -- 2.5. Discussions -- 2.6. Concluding remarks -- 2.7. Bibliography -- Chapter 3. Modeling and Simulation of Analog Angular Sensors for Manufacturing Purposes -- 3.1. Introduction -- 3.2. Pancake resolver model -- 3.2.1. Description -- 3.2.2. Mathematical model.

3.3. Simulation and experimental results -- 3.3.1. Performance of the overall model -- 3.3.2. Manufacturer correction tools -- 3.4. Conclusions -- 3.5. Acknowledgment -- 3.6. Bibliography -- Chapter 4. Robust Control of Atomic Force Microscopy -- 4.1. Introduction -- 4.2. Repetitive control of the vertical direction motion -- 4.2.1. Tapping mode AFM system model -- 4.2.2. Repetitive control basics -- 4.2.3. Mapping mixed sensitivity specifications into controller parameter space -- 4.2.4. Repetitive control features of COMES -- 4.2.5. Robust repetitive controller design using the COMES toolbox -- 4.2.6. Simulation results for the vertical direction -- 4.3. MIMO disturbance observer control of the lateral directions -- 4.3.1. The piezotube and the experimental setup -- 4.3.2. MIMO disturbance observer -- 4.3.3. Disturbance observer design for the piezotube and experimental results -- 4.4. Concluding remarks -- 4.5. Acknowledgments -- 4.6. Bibliography -- Chapter 5. Automated Identification -- 5.1. Introduction -- 5.2. Serial binary barcode -- 5.2.1. Identification technology for serial binary barcodes -- 5.2.2. Requirements for serial binary barcode identification -- 5.2.3. Decoding for identification -- 5.3. Two-dimensional binary barcode -- 5.3.1. Scanning technology of the 2D barcode -- 5.3.2. Multi-line scan based on time-sharing laser light emission -- 5.4. Ternary barcode -- 5.4.1. Dual-threshold method -- 5.4.2. Envelope differential composite method -- 5.4.3. Fixed-period delay method -- 5.5. RFID -- 5.5.1. Electromagnetic induction technology -- 5.5.2. Microwave transmission technology -- 5.6. Application examples -- 5.7. Concluding remarks -- 5.8. Acknowledgments -- 5.9. Bibliography -- Chapter 6. An Active Orthosis for Gait Rehabilitation -- 6.1. Introduction -- 6.1.1. Gait rehabilitation -- 6.1.2. Rehabilitation robotics.

6.1.3. Biomechanics of gait -- 6.1.4. Robot-assisted gait rehabilitation: a review -- 6.1.5. Gait training strategies: a review -- 6.2. Compliant active orthosis design -- 6.2.1. Design criteria -- 6.2.2. Active orthosis components -- 6.3. Modeling -- 6.3.1. PMA dynamic modeling -- 6.3.2. Interaction force estimation -- 6.4. Control -- 6.5. Simulation results -- 6.6. Conclusions -- 6.7. Acknowledgment -- 6.8. Bibliography -- Chapter 7. Intelligent Assistive Knee Exoskeleton -- 7.1. Introduction -- 7.1.1. Background on assistive devices -- 7.1.2. Lower extremity AR devices -- 7.2. Overview of knee exoskeleton system -- 7.3. Modeling and control of pneumatic artificial muscle (PAM) -- 7.3.1. Background -- 7.3.2. Characteristic of the PAM -- 7.3.3. Models from literature -- 7.3.4. Model used -- 7.4. Modeling of high-speed on/off solenoid valve -- 7.4.1. Experimental validation of high-speed valve flow rate -- 7.5. Self-organizing fuzzy control -- 7.5.1. Introduction to fuzzy control -- 7.5.2. Fuzzy control system for PAM -- 7.5.3. Introduction to self-organizing fuzzy controllers -- 7.5.4. Practical implementation -- 7.6. Surface electromyography -- 7.6.1. Origins of surface electromyography (sEMG) signals -- 7.6.2. sEMG signal acquisition and conditioning -- 7.6.3. Relating sEMG to muscle force -- 7.7. Hardware implementation -- 7.8. Concluding remarks -- 7.9. Acknowledgment -- 7.10. Bibliography -- List of Authors -- Index.