Development and evaluation of new control algorithms for a mechanical golf swing device

Golf swing machines have become fundamental tools in the development of new equipment because they provide more consistent swing motions than golfers. Golf robots perform a simplification of the complex sequence of motions that compose a golf swing; however, traditional devices are typically capable of performing only a single swing profile at variable speeds. Significant differences exist between individual golfers’ swing motions, especially for golfers of different ability, experience, and physical stature, which suggests a requirement for swing profile variability in mechanical simulators. This investigation has found that the swing motion of a traditional golf robot provides a poor representation of golfers’ swings and, as a result, a bespoke control system has been developed for a commercially available golf robot to enable performance of variable swing profiles with positional feedback. Robot swing command files are generated by fitting a curve to a number of discrete data points that are equally spaced in time, and which define angles representative of individual golfers’ swings. The swing profiles of a professional golfer and a traditional golf robot were repeated accurately using this golf robot with a modified motion control system. The capability for individual golfers’ swings to be accurately replicated using a mechanical device was demonstrated using feedback data. All manufacturers recognize the importance of tailoring equipment to the unique characteristics of a particular golfer’s swing, and this increased robot functionality will provide considerable benefits in the development of customized equipment

Minimising vibration in a flexible golf club during robotic simulations of a golf swing

Robots are widely used as substitutes for humans in situations involving repetitive tasks where a precise and repeatable motion is required. Sports technology is an area which has seen an increase in the implementation of robots which simulate specific human motions required for a sport. One purpose is to test sports equipment, where the requirement is for a motion to be performed with consistent variables. One issue which has arisen frequently in the robot simulation of humans is the inherent presence of vibration excited in a flexible object being manipulated by a robot, and this issue is not unfounded in the situation presented in this research, of a golf robot manipulating a flexible golf club during the simulation of a golf swing. It had been found that during robotic simulations of golf swings performed with the Miyamae Robo V at the Sports Technology Institute at Loughborough University, swing variables such as shaft deformation and clubhead orientation were dissimilar to those measured for human golf swings. Vibrations present in the golf club were identified as the key cause of the disparity between human and robot swing variables. This research sought to address this issue and find a method which could be applied to reduce clubhead vibrations present in robot simulations of a golf swing to improve their similarity to human swings. This would facilitate the use of the golf robot for equipment testing and club fitting. Golf swing variables were studied and measured for 14 human subjects with the aim being to understand the motion that the robot is required to simulate. A vibration damping gripper was then fitted to the robot to test the effect that changing the interface between the robot-excited vibrations and the club would have, this was achieved with a selection of silicone sleeves with differing material properties which could be attached to the club. Preliminary results showed a noticeable reduction in clubhead vibrations and this solution was investigated further. Mathematically modelling the robot was seen as the most suitable method for this as it meant the robot remained functional and allowed a number of solutions to be tested. Several iterations of a mathematical model were developed with the final model being structurally similar to the robot with the addition of a compliant grip and wrist. The method by which the robot is driven was also recognised as having a large effect on the level of vibration excited in the clubhead and the methodology behind generating smooth robot swing profiles is presented. The mathematical model was used to perform 6 swings and the resulting shaft deformation and clubhead vibration were compared with data from human swings. It was found that the model was capable of producing swing variables comparable to human swings, however in the downswing portion of the swing the magnitude of these variables were larger for the simulations. Simulations were made which sought to demonstrate the difference between the model replicating the rigid robot and a compliant system. Reductions in vibration were achieved in all swings, including those driven with robot feedback data which contains oscillations excited by the method with which the robot is driven

Haptically Assisted Golf Putting Through a Planar Four-Cable System

Individuals learning a new sport often repeat a motion hundreds or thousands of times to try to perfect their form. The quintessential example of this process may be a beginning golfer struggling to learn to putt, where strokes must be precise and consistent in order to place the ball in the hole. This paper presents a four-cable haptic device designed to help golfers learn to improve their putting accuracy. This planar three-DOF system provides feedback that consists of two Cartesian forces and one angular moment. We present the system’s design and kinematics, along with a closed-loop controller that helps the user keep the putter head at the correct angle in the plane. We evaluated our design through a study in which five subjects used the system to repeatedly putt at a target both with and without assistance. While assistance did not change the mean of the putting distribution, it did significantly affect the variance for some subject

Database of Video Games and Their Therapeutic Properties

There are reported to be 2.96 billion video game players in the world as of 2021 and this number is expected to grow to 3.32 billion by the year 2024. Of that total, 215.5 million video game players live in the United States with a reported average age of 33 years old. Thousands of commercial video games are released every year. There is evidence to support video game technology use as therapeutic media however it predominately utilizes outdated technology or technology designed for a specific purpose also called “serious games.” The problem is that OT practitioners are unaware of the potential therapeutic properties of video games they have not played, so are unable to integrate unfamiliar video games as therapeutic media in clinical practice. The purpose of this capstone project is to develop an online database of commercial video games, and their therapeutic properties, to facilitate their use as therapeutic media in OT practice. To address this problem a webpage was developed in partnership with the Family Gaming Database that cataloged 10 commercial video games from commercially available video game subscription services and the Nintendo Switch. The 10 games were subject to an activity analysis based on the AMPS to determine their therapeutic potential. The resulting webpage contains three main lists in which filters can be applied in order to display games that meet a specific desired criterion. Applicable filters include platform, age rating, difficulty, and specific accessibility features. Keywords: database, occupational therapy, video game, video game

Study on the dynamics of golf swing and impedance control for a golf swing robot

高知工科大学博士(工学) 平成19年3月20日授与 (甲第111号

ACHIEVING COMMERCIAL SUCCESS WITH BIOMECHANICS SIMULATION

This paper surveys the usage of human simulation by the commercial industry. The intention is to provide students with an awareness of potential job opportunities and the appropriate skill set the various sectors of the commercial industry would find attractive. A wide spectrum of biomechanics market segments are identified and a commercial application for each one is described. The commercial industry segments addressed include sports performance/equipment, orthopedics, clinical applications, injury evaluation and task simulation

Benchmarking Cerebellar Control

Cerebellar models have long been advocated as viable models for robot dynamics control. Building on an increasing insight in and knowledge of the biological cerebellum, many models have been greatly refined, of which some computational models have emerged with useful properties with respect to robot dynamics control. Looking at the application side, however, there is a totally different picture. Not only is there not one robot on the market which uses anything remotely connected with cerebellar control, but even in research labs most testbeds for cerebellar models are restricted to toy problems. Such applications hardly ever exceed the complexity of a 2 DoF simulated robot arm; a task which is hardly representative for the field of robotics, or relates to realistic applications. In order to bring the amalgamation of the two fields forwards, we advocate the use of a set of robotics benchmarks, on which existing and new computational cerebellar models can be comparatively tested. It is clear that the traditional approach to solve robotics dynamics loses ground with the advancing complexity of robotic structures; there is a desire for adaptive methods which can compete as traditional control methods do for traditional robots. In this paper we try to lay down the successes and problems in the fields of cerebellar modelling as well as robot dynamics control. By analyzing the common ground, a set of benchmarks is suggested which may serve as typical robot applications for cerebellar models