Search results for " STIFFNESS"
showing 10 items of 299 documents
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis
2019
Author's accepted manuscript (postprint). This article has been published in a revised form in Robotica, http://doi.org/10.1017/S0263574719001358. This version is free to view and download for private research and study only. Not for re-distribution or re-use. © 2019 Cambridge University Press. Available from 25/03/2020. Aim of the virtual torsion sensor (VTS) is in observing the nonlinear deflection in the flexible joints of robotic manipulators and, by its use, improving positioning control of the joint load. This model-based approach utilizes the motor-side sensing only and, therefore, replaces the load-side encoders at nearly zero hardware costs. For being applied in the closed control …
An Input Observer-Based Stiffness Estimation Approach for Flexible Robot Joints
2020
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are subject to plastic deformation over time, it is currently a challenge to precisely determine the total flexibility torque applied to a robot's joint and the corresponding joint stiffness. Herein, by considering the flexibility torque acting on each motor as an unknown signal and building upon Unknown Input Observer theory, a solution for electrically-driven actuators is proposed, which consists of …
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Identification of circumferential regional heterogeneity of ascending thoracic aneurysmal aorta by biaxial mechanical testing
2019
Abstract Ascending thoracic aortic aneurysm (ATAA) in patients with bicuspid aortic valve (BAV) can present an asymmetrical aortic dilatation compared with patients with tricuspid aortic valve (TAV). This pattern of aneurysm dilatation led us to hypothesize that biomechanical differences likely induced by regional heterogeneity of material properties can underlie the observed asymmetric enlargement discrepancies between BAV ATAA and TAV ATAA. This study aimed to characterize the mechanical properties and associated aortic tissue stiffness changes along the circumferential direction of aortic rings collected from surgically-repaired patients with ATAA. Biaxial material testing was performed …
Renal haemodynamics and coronary atherosclerotic burden are associated in patients with hypertension and mild coronary artery disease
2019
Intrarenal hemodynamic alterations are independent predictors of cardiovascular events in different populations. It has been hypothesized that there is an association between renal hemodynamics and coronary atherosclerotic burden in patients with hypertension. Therefore, the present study examined the associations between renal hemodynamics, coronary atherosclerotic burden and carotid atherosclerotic disease. A total of 130 patients with hypertension aged between 30-80 years who had been referred for an elective coronary angiography were enrolled in the present study. A duplex ultrasound of the intrarenal vasculature was performed to evaluate the resistive index (RI), pulsatility index (PI)…
Numerical Treatment of the Filament-Based Lamellipodium Model (FBLM)
2017
We describe in this work the numerical treatment of the Filament-Based Lamellipodium Model (FBLM). This model is a two-phase two-dimensional continuum model, describing the dynamics of two interacting families of locally parallel F-actin filaments. It includes, among others, the bending stiffness of the filaments, adhesion to the substrate, and the cross-links connecting the two families. The numerical method proposed is a Finite Element Method (FEM) developed specifically for the needs of this problem. It is comprised of composite Lagrange–Hermite two-dimensional elements defined over a two-dimensional space. We present some elements of the FEM and emphasize in the numerical treatment of t…
Prevalence and severity of nonalcoholic fatty liver disease by transient elastography: Genetic and metabolic risk factors in a general population.
2017
BACKGROUND & AIMS The worldwide spread of obesity is leading to a dramatic increase in the prevalence of nonalcoholic fatty liver disease (NAFLD) and its complications. We aimed to evaluate both prevalence and factors associated with NAFLD in a general population in a Mediterranean area. METHODS We considered 890 consecutive individuals included in the community-based ABCD (Alimentazione, Benessere Cardiovascolare e Diabete) study (ISRCTN15840340). Controlled attenuation parameter (CAP) and liver stiffness measurement (LSM) were measured with FibroScan. Participants were genotyped for PNPLA3 rs738409 and TM6SF2 rs58542926 variants. RESULTS The prevalence of NAFLD in the cohort was 48%. NAFL…
Lycopene and Vascular Health
2018
Lycopene is a lipophilic, unsaturated carotenoid, found in red-colored fruits and vegetables, including tomatoes, watermelon, papaya, red grapefruits, and guava. The present work provides an up to date overview of mechanisms linking lycopene in the human diet and vascular changes, considering epidemiological data, clinical studies, and experimental data. Lycopene may improve vascular function and contributes to the primary and secondary prevention of cardiovascular disorders. The main activity profile of lycopene includes antiatherosclerotic, antioxidant, anti-inflammatory, antihypertensive, antiplatelet, anti-apoptotic, and protective endothelial effects, the ability to improve the metabol…