A self-powered seesaw-structured spherical triboelectric–electromagnetic hybrid nanogenerator buoy combining various working modes is presented for sea surface wireless positioning.
Active prosthetic knees (APKs) are widely used in the past decades. However, it is still challenging to make them more natural and controllable because: (1) most existing APKs that use rigid actuators have difficulty obtaining more natural walking; and (2) traditional finite-state impedance control has difficulty adjusting parameters for different motions and users. In this paper, a flexible APK with a compact variable stiffness actuator (VSA) is designed for obtaining more flexible bionic characteristics. The VSA joint is implemented by two motors of different sizes, which connect the knee angle and the joint stiffness. Considering the complexity of prothetic lower limb control due to unknown APK dynamics, as well as strong coupling between biological joints and prosthetic joints, an adaptive robust force/position control method is designed for generating a desired gait trajectory of the prosthesis. It can operate without the explicit model of the system dynamics and multiple tuning parameters of different gaits. The proposed model-free scheme utilizes the time-delay estimation technique, sliding mode control, and fuzzy neural network to realize finite-time convergence and gait trajectory tracking. The virtual prototype of APK was established in ADAMS as a testing platform and compared with two traditional time-delay control schemes. Some demonstrations are illustrated, which show that the proposed method has superior tracking characteristics and stronger robustness under uncertain disturbances within the trajectory error in ± 0 . 5 degrees. The VSA joint can reduce energy consumption by adjusting stiffness appropriately. Furthermore, the feasibility of this method was verified in a human–machine hybrid control model.
The launching of 5G technology provides excellent opportunity for the prosperous development of Internet of Things (IoT) devices and intelligent wireless sensor nodes. However, deploying of tremendous wireless sensor nodes network presents a great challenge to sustainable power supply and self-powered active sensing. Triboelectric nanogenerator (TENG) has shown great capability for powering wireless sensors and work as self-powered sensors since its discovery in 2012. Nevertheless, its inherent property of large internal impedance and pulsed "high-voltage and low-current" output characteristic seriously limit its direct application as stable power supply. Herein, a generic triboelectric sensor module (TSM) is developed toward managing the high output of TENG into signals that can be directly utilized by commercial electronics. Finally, an IoT-based smart switching system is realized by integrating the TSM with a typical vertical contact-separation mode TENG and microcontroller, which is able to monitor the real-time appliance status and location information. Such design of a universal energy solution for triboelectric sensors is applicable for managing and normalizing the wide output range generated from various working modes of TENGs and suitable for facile integration with IoT platform, representing a significant step toward scaling up TENG applications in future smart sensing.
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