The AMP-Foot 2.1 : actuator design, control and experiments with an amputee

Robotica ◽  
2014 ◽  
Vol 32 (8) ◽  
pp. 1347-1361 ◽  
Author(s):  
Pierre Cherelle ◽  
Karen Junius ◽  
Victor Grosu ◽  
Heidi Cuypers ◽  
Bram Vanderborght ◽  
...  
Keyword(s):  
Control Strategy ◽  
Energy Efficient ◽  
Experimental Validation ◽  
Stance Phase ◽  
State Of The Art ◽  
New Energy ◽  
Full Power ◽  
And Control ◽  
Future Work ◽  
Actuator Design

SUMMARYThe Ankle Mimicking Prosthetic (AMP-) Foot 2 is a new energy efficient, powered transtibial prosthesis mimicking intact ankle behavior. The author's research is focused on the use of a low power actuator which stores energy in springs during the complete stance phase. At push-off, this energy can be released hereby providing propulsion forces and torques to the amputee. With the use of the so-called catapult actuator, the size and weight of the drive can be decreased compared to state-of-the-art powered prostheses, while still providing the full power necessary for walking.In this article, the authors present a detailed description of the catapult actuator followed by a comparison with existing actuator technology in powered prosthetic feet with regard to torque and power requirements. The implication on the actuator's design will then be outlined. Further, a description of the control strategy behind the AMP-Foot 2 and 2.1 will be given. In the last section of the article, the actuation principle and control are illustrated by experimental validation with a transfemoral amputee. Conclusions and future work complete the paper.

scholarly journals A Robotic Head Stabilization Device for Medical Transport

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 23
Author(s):  
Adam Williams ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Disturbance Rejection ◽  
Experimental Validation ◽  
Traumatic Head Injury ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Traumatic Head ◽  
Medical Transport ◽  
Time Required ◽  
And Control ◽  
Future Work

In this paper, the design and control of a robotic device intended to stabilize the head and neck of a trauma patient during transport are presented. When transporting a patient who has suffered a traumatic head injury, the first action performed by paramedics is typically to restrain and stabilize the head and cervical spine of a patient. The proposed device would drastically reduce the time required to perform this action while also freeing a first responder to perform other possibly lifesaving actions. The applications for robotic casualty extraction are additionally explored. The design and construction are described, followed by control simulations demonstrating the improved behavior of the chosen controller paradigm, linear active disturbance rejection control (LADRC). Finally, experimental validation is presented, followed by future work and directions for the research.

Optimal Control of Distributed Generation System: The State of the Art

2013 ◽  
Vol 433-435 ◽  
pp. 1061-1064
Author(s):  
Hai Liu ◽  
Qing Fu Du ◽  
Yong Song ◽  
Wei Guo
Keyword(s):  
Optimal Control ◽  
Distributed Generation ◽  
Control Strategy ◽  
State Of The Art ◽  
The State ◽  
Generation System ◽  
Modeling And Analysis ◽  
Optimal Dispatch ◽  
Research Orientations ◽  
And Control

This paper presents a detailed review of the existing methods of the optimal control of distributed generation system and the state of the art of current research. The research of the optimal control of distributed generation system is summarized in terms optimal dispatch and control strategy. The approach of modeling and analysis for distributed generation system is described in detail. The key difficulties of the theory and technique about the optimal control of distributed generation system are analyzed. The current issues about the optimal control of the system are pointed out at last, and the research orientations of the optimal control of distributed generation system are presented.

A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

2005 ◽  
Author(s):  
John T. Cameron ◽  
Sean Brennan
Keyword(s):  
Experimental Validation ◽  
Controller Design ◽  
Experimental Testing ◽  
Control Strategies ◽  
Control Design ◽  
Experimental Results ◽  
Dynamics And Control ◽  
Vehicle Rollover ◽  
And Control ◽  
Future Work

This work presents results of an initial investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of both experimental validation and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models with experimental results, and determining suitable parameters for the models. This work addresses these issues via experimental testing of published models. Parameter estimation data based on model fits is presented, with commentary given on the validity of different methods. Experimental results are then presented and compared to the output predicted by the various models in both the time and frequency domain in order to provide a foundation for future work.

scholarly journals Optimizing the Energy-Efficient Metro Train Timetable and Control Strategy in Off-Peak Hours with Uncertain Passenger Demands

Energies ◽  
2017 ◽  
Vol 10 (4) ◽  
pp. 436 ◽  
Author(s):  
Jia Feng ◽  
Xiamiao Li ◽  
Haidong Liu ◽  
Xing Gao ◽  
Baohua Mao
Keyword(s):  
Control Strategy ◽  
Energy Efficient ◽  
Train Timetable ◽  
And Control

scholarly journals Introduction Of Energy Saving Principles: Technologies And Awareness, Latvian Experience

2018 ◽  
Vol 55 (6) ◽  
pp. 52-62 ◽  
Author(s):  
A. Mutule ◽  
J. Teremranova
Keyword(s):  
Energy Saving ◽  
Smart City ◽  
Energy Efficient ◽  
New Technologies ◽  
State Of The Art ◽  
Smart Cities ◽  
Current Situation ◽  
Wide Range ◽  
New Energy

Abstract The article presents an overview of the current situation of awareness of the Latvian citizens in the field of state-of-the-art energy-saving technologies. The authors present a wide range of data obtained as a result of a survey on the attitude of residents to new technologies and readiness to follow the development trends of a smart city. The article contains the analysis and recommendations for improving the efficiency of introducing new energy-saving and energy-efficient technologies into each household in order to create the most favourable conditions for the implementation of long-term plans for the development of smart cities in Latvia.

scholarly journals Research on the System and Control Strategy of an AC-DC Hybrid Single-Phase Electric Energy Router

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 970
Author(s):  
Zhao ◽  
Jiang ◽  
Liu
Keyword(s):  
Power Systems ◽  
Control Strategy ◽  
Single Phase ◽  
Electric Energy ◽  
Electrical Equipment ◽  
Optimal Operation ◽  
Energy Sources ◽  
Hybrid Form ◽  
New Energy ◽  
And Control

With the extensive development and use of new energy sources, it has become an urgent issue to solve the problem how to effectively use such energy sources. This paper designs a single-phase electric energy router (SPEER) whose main goal is to solve the problem of optimal operation of the home power system under a high penetration rate of new energy. First, a SPEER structure is presented which has an AC-DC hybrid form to meet the power requirements of all household electrical equipment. Compared with the existing structures, its structural design is more suitable for small-capacity systems, such as home power systems. Next, a reasonable, detailed, and feasible control scheme was designed for each part of the SPEER, so that it has the functions of plug and play, power routing, island detection, and synchronous grid connection, and a seamless coordination management scheme between subsystems was designed. Complete functions make it more intelligent in response to various conditions. Finally, the correctness of the designed SPEER and control strategy was verified by experiment.

Design of a Clutch–Spring Knee Exoskeleton for Running

2014 ◽  
Vol 8 (3) ◽  
Author(s):  
Grant Elliott ◽  
Andrew Marecki ◽  
Hugh Herr
Keyword(s):  
Control Strategy ◽  
Stance Phase ◽  
Planetary Gear ◽  
Knee Extension ◽  
Swing Phase ◽  
Gear Transmission ◽  
Sensory Inputs ◽  
Peak Knee ◽  
Low Mass ◽  
And Control

Because the leg is known to exhibit springlike behavior during the stance phase of running, several exoskeletons have attempted to place external springs in parallel with some or all of the leg during stance, but these designs have failed to permit natural kinematics during swing. To this end, a parallel-elastic exoskeleton is presented that introduces a clutch to disengage the parallel leg-spring and thereby not constrain swing-phase movements of the biological leg. A custom interference clutch with integrated planetary gear transmission, made necessary by the requirement for high holding torque but low mass, is presented and shown to withstand up to 190 N·m at 1.8 deg resolution with a mass of only 710 g. A suitable control strategy for locking the clutch at peak knee extension is also presented, where only an onboard rate gyroscope and exoskeletal joint encoder are employed as sensory inputs. Exoskeletal electromechanics, sensing, and control are shown to achieve design critieria necessary to emulate biological knee stiffness behaviors in running.

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