Biologically-Inspired Impedance Control With Hysteretic Damping

Brissonneau, Nicolas; He, Binghan; Thomas, Gray C.; Sentis, Luis

doi:10.1109/lcsys.2020.3044101

Cited by 4 publications

(2 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The mechanical impedance of the human is also modeled as a complex stiffness—a spring with a dissipation term that does not change with frequency. (This model can be interpreted as similar to a spring with a coulomb friction term that scales with the magnitude of deflection, such that the energy lost in flexing the spring does not depend on the speed of the flexing Brissonneau et al, 2021 ) This complex stiffness model is more accurate than the viscous damping model in predicting human energy dissipation in the elbow, especially at low frequencies He et al (2020) .…”

Section: Tuning the Amplification Filtersmentioning

confidence: 99%

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

et al. 2021

Self Cite

View full text Add to dashboard Cite

Augmenting the physical strength of a human operator during unpredictable human-directed (volitional) movements is a relevant capability for several proposed exoskeleton applications, including mobility augmentation, manual material handling, and tool operation. Unlike controllers and augmentation systems designed for repetitive tasks (e.g., walking), we approach physical strength augmentation by a task-agnostic method of force amplification—using force/torque sensors at the human–machine interface to estimate the human task force, and then amplifying it with the exoskeleton. We deploy an amplification controller that is integrated into a complete whole-body control framework for controlling exoskeletons that includes human-led foot transitions, inequality constraints, and a computationally efficient prioritization. A powered lower-body exoskeleton is used to demonstrate behavior of the control framework in a lab environment. This exoskeleton can assist the operator in lifting an unknown backpack payload while remaining fully backdrivable.

show abstract

Section: Tuning the Amplification Filtersmentioning

confidence: 99%

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the vibration and modal analysis of the structural system, the damping parameters should be identified first. The viscous damping model and the hysteretic damping model are the two most commonly used intrinsic damping models of structures (Wu et al, 2018; Brissonneau et al, 2021; Sun et al, 2021). The choice of the two damping models depends on the energy dissipation characteristics of the structural harmonic steady-state response, which can be obtained based on the experimental hysteretic curve.…”

Section: Introductionmentioning

confidence: 99%

Comparison of damping parameters based on the half-power bandwidth methods of viscous and hysteretic damping models

Sun

Wang

2021

Journal of Vibration and Control

View full text Add to dashboard Cite

The half-power bandwidth method is usually used to calculate structural damping parameters by frequency response function (FRF). In this note, the half-power bandwidth methods for the displacement FRF, the velocity FRF, and the acceleration FRF are proposed based on viscous and hysteretic damping models, respectively. Comparison results show that the application conditions of half-power bandwidth methods for the displacement and acceleration FRFs are limited. They can only be used to calculate the small damping ratio/loss factor. The application condition of half-power bandwidth method for the velocity FRF is not limited. It can be used to calculate the large or small damping ratio/loss factor, which should be the first choice for calculating damping parameters. Besides, when the damping ratio is less than 0.2546 or the loss factor is less than 0.5658, the relative difference between the loss factor and twice the damping ratio is less than 10%. With the increase of the damping ratio or loss factor, the relative difference will increase rapidly, and the approximate relationship is no longer applicable.

show abstract

A dual-oscillator approach to complex-stiffness damping based on fourth-order dynamics

Sanders

2022

Nonlinear Dyn

View full text Add to dashboard Cite

Biologically-Inspired Impedance Control With Hysteretic Damping

Cited by 4 publications

References 17 publications

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

Comparison of damping parameters based on the half-power bandwidth methods of viscous and hysteretic damping models

A dual-oscillator approach to complex-stiffness damping based on fourth-order dynamics

Contact Info

Product

Resources

About