Energy-efficient power assisting methods for periodic motions and its experimental verification

Hatada, Kazuyoshi; Hirata, Kentaro

doi:10.1109/icit.2012.6210046

Cited by 6 publications

(4 citation statements)

References 8 publications

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“…We evaluated the performance of the E-bike for three cases: (1) without a motor (human powered), ( 2) with the PAS algorithm, and (3) with the proposed algorithm. The PAS algorithm was chosen for comparison because it is the algorithm most commonly employed with commercial E-bikes [11]. The PAS algorithm commands motor torque in proportion to the instantaneous human torque.…”

Section: Methodsmentioning

confidence: 99%

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A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

et al. 2021

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As robots are becoming more accessible in our daily lives, the interest in physical human–robot interaction (HRI) is rapidly increasing. An electric bicycle (E-bike) is one of the best examples of HRI, because a rider simultaneously actuates the rear wheel of the E-bike in close proximity. Most commercially available E-bikes employ a control methodology known as a power assistant system (PAS). However, this type of system cannot offer fully efficient power assistance for E-bikes since it does not account for the biomechanics of riders. In order to address this issue, we propose a control algorithm to increase the efficiency and enhance the riding experience of E-bikes by implementing the control parameters acquired from analyses of human leg kinematics and muscular dynamics. To validate the proposed algorithm, we have evaluated and compared the performance of E-bikes in three different conditions: (1) without power assistance, (2) assistance with a PAS algorithm, and (3) assistance with the proposed algorithm. Our algorithm required 5.09% less human energy consumption than the PAS algorithm and 11.01% less energy consumption than a bicycle operated without power assistance. Our algorithm also increased velocity stability by 11.89% and acceleration stability by 27.28%, and decreased jerk by 12.36% in comparison to the PAS algorithm.

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Section: Methodsmentioning

confidence: 99%

“…To enhance the riding efficiency of E-bikes, various control methodologies have been introduced. Hatada et al adopted a PAS to supplement human power during a periodic pedaling motion [11]. This PAS simply provides torque assistance to reduce human energy consumption by reducing the human effort required during cycling.…”

Section: Introductionmentioning

confidence: 99%

A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

et al. 2021

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“…3. From the principle of frequency response, the following optimality condition is derived [7]. We suppose that the pedaling torque τ h is a band limited T -periodic signal with frequencies in the range [0,ω] and the DC gain G c ( j0) of the closed-loop system is the same for all feedback controllers.…”

Section: Energy Efficiencymentioning

confidence: 99%

“…In our previous study, an optimal power assist method for periodic motions was developed based on a frequency shaping by a feedback controller 1 . The basic principle for an energy-efficient operation is to suppress the velocity deviations caused by fluctuations in the pedaling torque due to the muscular skeletal structure of our body [7]. A practical problem is that the pedaling period of a human is not exactly constant.…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Hatada

Hirata

Sato

2017

SICE Journal of Control, Measurement, and System Integration

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: This paper addresses the problem of energy-efficient power assist control for quasiperiodic motions. The simplest assist method would be to apply additional torque in proportion to the instantaneous value of torque generated by a user. In our previous study, it was shown that energy efficiency improves by flattening the torque pattern. To cope with the frequency fluctuation of our motion, we introduce a periodic disturbance observer with a frequency estimator and suppress the pulsation of the human torque based on a disturbance observer framework. The effectiveness of the proposed method is evaluated through numerical simulations and experiments with an actual electric bicycle being pedaled by a human.

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Energy-efficient power assist control with periodic disturbance observer and frequency estimator

Hatada

Hirata

Sato

2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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Energy-efficient power assisting methods for periodic motions and its experimental verification

Cited by 6 publications

References 8 publications

A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Energy-efficient power assist control with periodic disturbance observer and frequency estimator

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