Zobrazeno 1 - 10
of 105
pro vyhledávání: '"E. Misgeld"'
Publikováno v:
IEEE Transactions on Control Systems Technology. 29:2728-2737
We present a framework for achieving a robust stability test of the variable stiffness actuator (VSA) exoskeleton programmed with the gain scheduling-based variable impedance control (GSVIC). In this brief, the focused impedance control framework inv
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::12c09e8d09acdc900d96457ece4f5869
https://doi.org/10.1109/tcst.2021.3051716
https://doi.org/10.1109/tcst.2021.3051716
Autor:
Chuong Ngo, Berno J. E. Misgeld, Lin Liu, Zejun Hong, Lukas Bergmann, Steffen Leonhardt, Bernhard Penzlin
Publikováno v:
IEEE/ASME Transactions on Mechatronics. 26:2080-2091
This article investigates a closed-loop torque-controlled variable stiffness actuator (VSA) combined with a disturbance observer for enhancing low output impedance. We implement the generalized extended state observer (GESO) for conveniently testing
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d6b08f6486bec5a28775b97a4462876e
https://doi.org/10.1109/tmech.2020.3032372
https://doi.org/10.1109/tmech.2020.3032372
Publikováno v:
IEEE Transactions on Automation Science and Engineering. 17:991-1004
We present a novel application of the variable stiffness actuator (VSA)-based assistance/rehabilitation robot-featured impedance control using a cascaded position torque control loop. The robot follows the adaptive impedance control paradigm, thereby
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a27f46047de6e74e038ce358bc5aa594
https://doi.org/10.1109/tase.2019.2954769
https://doi.org/10.1109/tase.2019.2954769
Publikováno v:
IFAC-PapersOnLine. 53:8903-8908
We present a novel approach to the reconstruction of the physical pedalling torque in an electrically powered bicycle. The external force due to the road slope that is acting on the bicycle is estimated employing the reconstruction of the inclination
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::788aab45f2e2daea6b8aa412ae2e07f0
https://doi.org/10.1016/j.ifacol.2020.12.1412
https://doi.org/10.1016/j.ifacol.2020.12.1412
Publikováno v:
IFAC-PapersOnLine. 53:10129-10134
Compliant actuators have been increasingly used for active joints in lower-limb exoskeletons or orthoses because they help to guarantee a safe human interaction. One example of such compliant motors is the variable stiffness actuator (VSA). The desig
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b29630b383cab87da82c23e80b3541c1
https://doi.org/10.1016/j.ifacol.2020.12.2738
https://doi.org/10.1016/j.ifacol.2020.12.2738
Publikováno v:
Sensors, Vol 17, Iss 4, p 713 (2017)
We address the estimation of biomechanical parameters with wearable measurement technologies. In particular, we focus on the estimation of sagittal plane ankle joint stiffness in dorsiflexion/plantar flexion. For this estimation, a novel nonlinear bi
Externí odkaz:
https://doaj.org/article/5b4c57b4be304f9193ceaeb9515073a3
Autor:
Berno J. E. Misgeld, Eyal Dassau, Steffen Leonhardt, Lukas Ortmann, Dawei Shi, Francis J. Doyle
Publikováno v:
ACC
The human insulin-glucose metabolism is a time-varying process, which is partly caused by the changing insulin sensitivity of the body. This insulin sensitivity follows a circadian rhythm and its effects should be anticipated by any automated insulin
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c9668600dd0d24c36f8b9d1dae119d15
http://arxiv.org/abs/2101.11887
http://arxiv.org/abs/2101.11887
Publikováno v:
ACC
In this paper we develop a method to find the passivating parameter space for transfer function matrices with symbolic parameters. The method is subsequently applied to the mechanical-rotary variable impedance actuator (MeRIA), which belongs to the c
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::5fdaa36581a8d4afcd1c7d6010c10c28
https://doi.org/10.23919/acc45564.2020.9147209
https://doi.org/10.23919/acc45564.2020.9147209
Publikováno v:
Control Engineering Practice. 82:142-150
Series elastic actuators decouple stiff motors and gear trains from the load by an mechanic elastic element. This elastic element can be used as torque sensor, acts as an energy storage, decouples the actuator from exogenous high frequency excitation
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6d2ca480eb659ed8ea94345639e5a949
https://doi.org/10.1016/j.conengprac.2018.08.022
https://doi.org/10.1016/j.conengprac.2018.08.022
Autor:
Sarah Spagnesi, Thomas Vollmer, Steffen Leonhardt, Berno J. E. Misgeld, Chuong Ngo, Carlos Munoz, Sylvia Lehmann
Publikováno v:
Biomedical Engineering / Biomedizinische Technik. 63:673-681
There is a lack of noninvasive pulmonary function tests which can assess regional information of the lungs. Electrical impedance tomography (EIT) is a radiation-free, non-invasive real-time imaging that provides regional information of ventilation vo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c42b761c7fb7313e3a91864b53c77a83
https://doi.org/10.1515/bmt-2016-0196
https://doi.org/10.1515/bmt-2016-0196