2results about How to "Reduce Model Complexity" patented technology

The present application relates to a kind of plane five-pole closed-chain rehabilitation robot elimination modeling and force mapping control method, belong to rehabilitation robot control technical field.The method is aimed at the coupling of active joint and passive joint in plane five-pole closed-chain mechanism, control implementation difficulty under active joint coordinates and the problem that driving torque is difficult to accurately map as end force, establishes closed-chain position constraint equation, obtains velocity constraint relationship by derivation to constraint equation, under the nonsingular condition of passive joint constraint jacobian matrix, passive joint variable is explicitly eliminated, constraint consistent jacobian matrix is constructed, reduced dynamics equation under active joint coordinates is established, end force estimate is solved, and motor driving torque instruction is generated according to the end force estimate.The method is suitable for end impedance control, trajectory tracking control and rehabilitation training boost control of plane five-pole closed-chain rehabilitation robot.

This application provides an image contrast enhancement method, system, electronic device, and storage medium. The method includes: separating luminance and chrominance components from the YUV data of an input image; training the luminance component for contrast enhancement using an enhancement network model to obtain an enhancement coefficient grid for the luminance component and compensation coefficients for the chrominance component; enhancing the luminance component using the enhancement coefficient grid and enhancing the chrominance component using the compensation coefficients; and obtaining an enhanced image based on the enhanced luminance and chrominance components. This application can significantly reduce computational complexity while maintaining contrast enhancement effects, and can also suppress noise and eliminate video flicker.