中国机械工程学报英文版模板.doc

下行页眉字号9磅，单倍行距，段后1.2磅字号8磅，段后回车换行2次首页上行页眉字号10.5磅，单倍行距，段后1.2磅DOI: 10.3901/CJME.2009.05. 下行页眉字号9磅，单倍行距，段后1.2磅 字号8磅，段后回车换行2次 首页上行页眉字号10.5磅，单倍行距，段后1.2磅 论文题目字号14磅 论文题目字号14磅，行距固定值16磅，段后回车换行2次 Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback 字号11磅，段后 字号11磅，段后8磅 ZHANG Jiafan1, 3, *, FU Hailun2, DONG Yiming1, ZHANG Yu1, YANG Canjun1, and CHEN Ying1 1 State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China 字号10磅，斜体，段后回车换行1次2 Zhejiang Province Instituteof Metrology,Hangzhou 310027, 字号10磅，斜体，段后回车换行1次 3 National Die Mold CAD Engineering Research Center, Shanghai Jiao Tong University, Shanghai 200030, Received September 8, 2008; revised January 18, 2009; accepted February 23, 2009; published electronically March 6, 2009 字号8磅 字号8磅，段后回车换行1次 字号9磅，段后回车换行1次Abstract: A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical (3RPS) parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller 字号9磅，段后回车换行1次 Key words: exoskeleton arm, teleoperation, pneumatic force-feedback, hybrid fuzzy control 一级标题字号12磅 一级标题字号12磅，段前空1行，段后回车换行1次 字号9磅，段后回车换行2次 1 Introduction? 正文字号为10磅，除特别标注外，行距均为固定值13磅，行首缩进0.35 cm；含有上下标或较复杂数学式的段落为多倍行距，设置值为1.1~1.2菜单栏“格式”中的“段落”， 其中“缩进和间距”标签的复选框“如果定义了文档网络，则自动