11 research outputs found
Evaluation and Comparison of SEA Torque Controllers in a Unified Framework
Series elastic actuators (SEA) with their inherent compliance offer a safe
torque source for robots that are interacting with various environments,
including humans. These applications have high requirements for the SEA torque
controllers, both in the torque response as well as interaction behavior with
its the environment. To differentiate state of the art torque controllers, this
work is introducing a unifying theoretical and experimental framework that
compares controllers based on their torque transfer behavior, their apparent
impedance behavior, and especially the passivity of the apparent impedance,
i.e. their interaction stability, as well as their sensitivity to sensor noise.
We compare classical SEA control approaches such as cascaded PID controllers
and full state feedback controllers with advanced controllers using disturbance
observers, acceleration feedback and adaptation rules. Simulations and
experiments demonstrate the trade-off between stable interactions, high
bandwidths and low noise levels. Based on these tradeoffs, an application
specific controller can be designed and tuned, based on desired interaction
with the respective environment
Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation
Children with a neurological disorder such as cerebral palsy (CP) severely suffer from a reduced quality of life because of decreasing independence and mobility. Although there is no cure yet, a lower-limb exoskeleton (LLE) has considerable potential to help these children experience better mobility during overground walking. The research in wearable exoskeletons for children with CP is still at an early stage. This paper shows that the number of published papers on LLEs assisting children with CP has significantly increased in recent years; however, no research has been carried out to review these studies systematically. To fill up this research gap, a systematic review from a technical and clinical perspective has been conducted, based on the PRISMA guidelines, under three extended topics associated with âlower limbâ, âexoskeletonâ, and âcerebral palsyâ in the databases Scopus and Web of Science. After applying several exclusion criteria, seventeen articles focused on fifteen LLEs were included for careful consideration. These studies address some consistent positive evidence on the efficacy of LLEs in improving gait patterns in children with CP. Statistical findings show that knee exoskeletons, brushless DC motors, the hierarchy control architecture, and CP children with spastic diplegia are, respectively, the most common mechanical design, actuator type, control strategy, and clinical characteristics for these LLEs. Clinical studies suggest ankle-foot orthosis as the primary medical solution for most CP gait patterns; nevertheless, only one motorized ankle exoskeleton has been developed. This paper shows that more research and contribution are needed to deal with open challenges in these LLEs
Robotics 2010
Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development
The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)
This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992 and held at the JSC Gilruth Recreation Center. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotic and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. The symposium's proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry
Theoretical Approaches in Non-Linear Dynamical Systems
From Preface: The 15th International Conference âDynamical Systems - Theory and Applicationsâ (DSTA 2019, 2-5 December, 2019, Lodz, Poland) gathered a numerous group of outstanding scientists and engineers who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without great effort of the staff of the Department of Automation, Biomechanics and Mechatronics of the Lodz University of Technology. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our event was attended by over 180 researchers from 35 countries all over the world, who decided to share the results of their research and experience in different fields related to dynamical systems. This year, the DSTA Conference Proceedings were split into two volumes entitled âTheoretical Approaches in Non-Linear Dynamical Systemsâ and âApplicable Solutions in Non-Linear Dynamical Systemsâ. In addition, DSTA 2019 resulted in three volumes of Springer Proceedings in Mathematics and Statistics entitled âControl and Stability of Dynamical Systemsâ, âMathematical and Numerical Approaches in Dynamical Systemsâ and âDynamical Systems in Mechatronics and Life Sciencesâ. Also, many outstanding papers will be recommended to special issues of renowned scientific journals.Cover design: KaĆșmierczak, MarekTechnical editor: KaĆșmierczak, Mare
Proceedings of the Scientific-Practical Conference "Research and Development - 2016"
talent management; sensor arrays; automatic speech recognition; dry separation technology; oil production; oil waste; laser technolog
Large space structures and systems in the space station era: A bibliography with indexes
Bibliographies and abstracts are listed for 1372 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1990 and June 30, 1990. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems
Proceedings of the 2nd Conference on Production Systems and Logistics (CPSL 2021)
Proceedings of the CPSL 202
Proceedings of the Scientific-Practical Conference "Research and Development - 2016"
talent management; sensor arrays; automatic speech recognition; dry separation technology; oil production; oil waste; laser technolog
Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress
Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018