Nonlinear Phase-Based Oscillator to Generate and Assist Periodic Motions

Fuente, Juan de la; Sugar, Thomas G.; Redkar, Sangram; Bates, Andrew

doi:10.1115/detc2016-59230

Cited by 2 publications

(2 citation statements)

References 18 publications

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“…It handles the problem of not clearly defined resonant boundaries (Sugar et al, 2015). To optimize oscillator behavior, De la Fuente et al (2017) applied a nonlinear oscillator, using a forcing function-based on the sine and cosine of the system’s phase angle, which can modulate the amplitude and frequency of oscillation. The phase oscillator assumes the thigh angle profile and its integral to be sinusoids.…”

Section: Control Strategy Of Robotic Hip Exoskeletonmentioning

confidence: 99%

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Yang

et al. 2022

Wearable Technol.

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The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.

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Section: Control Strategy Of Robotic Hip Exoskeletonmentioning

confidence: 99%

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Yang

et al. 2022

Wearable Technol.

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“…Due to their simplicity, Phase Oscillators are extensively used in robotic applications [17][18][19][20]. Moreover, implementing Phase Oscillators using dynamical systems, such as Hopf and Van Der Pol oscillators [21], offers us stable limit cycles with advantageous properties such as smooth convergence behavior; see [22] for application in swimming robots.…”

Section: Related Workmentioning

confidence: 99%

Adaptive Natural Oscillator to exploit natural dynamics for energy efficiency

Khoramshahi

Nasiri

Shushtari

et al. 2017

Robotics and Autonomous Systems

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We present a novel adaptive oscillator, called Adaptive Natural Oscillator (ANO), to exploit the natural dynamics of a given robotic system. This tool is built upon the Adaptive Frequency Oscillator (AFO), and it can be used as a pattern generator in robotic applications such as locomotion systems. In contrast to AFO, that adapts to the frequency of an external signal, ANO adapts the frequency of reference trajectory to the natural dynamics of the given system. In this work, we prove that, in linear systems, ANO converges to the system's natural frequency. Furthermore, we show that this tool exploits the natural dynamics for energy efficiency through minimization of actuator effort. This property makes ANO an appealing tool for energy consumption reduction in cyclic tasks; especially in legged systems. We also extend the proposed adaptation mechanism to high dimensional and general cases; such as n-DOF manipulators. In addition, by investigating a hopper leg in simulation, we show the efficacy of ANO in face of dynamical discontinuities; such as those inherent in legged locomotion. Furthermore, we apply ANO to a simulated compliant robotic manipulator performing a periodic task where the energy consumption is drastically reduced. Finally, the experimental results on a 1-DOF compliant joint show that our adaptive oscillator, despite all practical uncertainties and deviations from theoretical models, exploits the natural dynamics and reduces the energy consumption.

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Nonlinear Phase-Based Oscillator to Generate and Assist Periodic Motions

Cited by 2 publications

References 18 publications

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Adaptive Natural Oscillator to exploit natural dynamics for energy efficiency

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