Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Autor:	Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Rok vydání:	2017
Předmět:	0209 industrial biotechnology 020901 industrial engineering & automation Mechanical Engineering 02 engineering and technology 021001 nanoscience & nanotechnology 0210 nano-technology
Zdroj:	Journal of Mechanisms and Robotics. 9
ISSN:	1942-4310 1942-4302
Popis:	Oscillatory behavior is important for tasks, such as walking and running. We are developing methods for wearable robotics to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. This method is based on the state of the system and does not use off-line trajectory planning. The behavior of a limit cycle is shown using the Poincaré–Bendixson criterion. Linear and rotational models are simulated using our phase controller. The method is implemented and tested to control a pendulum.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::7b9699da4157f3873b1ae10f2c422f8d https://doi.org/10.1115/1.4036023 Zobrazit plný text záznamu