Search results for "joint stiffness"
showing 10 items of 29 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…
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 …
Robotic Rehabilitation and Multimodal Instrumented Assessment of Post-stroke Elbow Motor Functions-A Randomized Controlled Trial Protocol.
2020
Background: The reliable assessment, attribution, and alleviation of upper-limb joint stiffness are essential clinical objectives in the early rehabilitation from stroke and other neurological disorders, to prevent the progression of neuromuscular pathology and enable proactive physiotherapy toward functional recovery. However, the current clinical evaluation and treatment of this stiffness (and underlying muscle spasticity) are severely limited by their dependence on subjective evaluation and manual limb mobilization, thus rendering the evaluation imprecise and the treatment insufficiently tailored to the specific pathologies and residual capabilities of individual patients. Methods: To ad…
Changes in mechanical properties of human plantar flexor muscles in ageing
2003
Changes in contractile and elastic properties of human plantar flexor muscles in ageing, were investigated in 12 young (19-24 years, YG) and 11 old (61-74 year, OG) men. Maximal isometric and concentric voluntary torques, at several angular velocities, were measured to construct torque-angular velocity relationship. This led to the calculation of an index of maximal shorting velocity (VImax) at low torque. Two methods were then used to calculate musculotendinous (MT, quick-release movements) and musculoarticular (MA, sinusoidal perturbations) stiffness. In both cases, stiffness was linearly related to torque, leading to the calculation of a stiffness index (SI) as the slope of the stiffness…
Age-related muscle activation profiles and joint stiffness regulation in repetitive hopping
2011
Abstract It is well documented that increasing effort during exercise is characterized by an increase in electromyographic activity of the relevant muscles. How aging influences this relationship is a matter of great interest. In the present study, nine young and 24 elderly subjects did repetitive hopping with maximal effort as well as with 50%, 65%, 75% and 90% intensities. During hopping joint kinematics were measured together with electromyographic activity (EMG) from the soleus, gastrocnemius medialis, gastrocnemius lateralis and tibialis anterior muscles. The results showed that agonist activation increased in both age groups with increasing intensity. The highest jumping efficiency (E…
Effect of static foot posture on the dynamic stiffness of foot joints during walking
2018
Background The static foot posture has been related to the development of lower limb injuries. Research question This study aimed to investigate the dynamic stiffness of foot joints during gait in the sagittal plane to understand the role of the static foot posture in the development of injuries. Methods Seventy healthy adult male subjects with different static postures, assessed by the Foot Posture Index (FPI) (30 normal, 20 highly pronated and 20 highly supinated), were recruited. Kinematic and kinetic data were recorded using an optical motion capture system and a pressure platform, and dynamic stiffness at the different stages of the stance was calculated from the slopes of the linear r…
Dynamic Flexion Stiffness of Foot Joints During Walking
2016
Background: Dynamic stiffness can be used for studying foot pathologic abnormalities and for developing prostheses and orthoses. Although previous works have studied the role of ankle joint stiffness during gait, other foot joints have not yet been analyzed. We sought to characterize the dynamic stiffness of the ankle, midtarsal, and metatarsophalangeal joints during normal walking.Methods: Kinematics and contact data from four healthy individuals during walking were registered with a three-dimensional motion analysis system and a pressure platform. Stance phases with flexion moment-angle linear relationships were identified, and dynamic stiffnesses were calculated from the slope of their l…
Age-related neuromuscular function during drop jumps.
2007
Muscle- and movement-specific fascicle-tendon interaction affects the performance of the neuromuscular system. This interaction is unknown among elderly and consequently contributes to the lack of understanding the age-related problems on neuromuscular control. The present experiment studied the age specificity of fascicle-tendon interaction of the gastrocnemius medialis (GM) muscle in drop jump (DJ) exercises. Twelve young and thirteen elderly subjects performed maximal squat jumps and DJs with maximal rebound effort on a sledge apparatus. Ankle and knee joint angles, reaction force, and electromyography (EMG) from the soleus (Sol), GM, and tibialis anterior (TA) muscles were measured tog…