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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Evandro, M. Ficanha Ribeiro, Guilherme Aagaah, Mohammad Rastgaar |
| Copyright Year | 2016 |
| Abstract | Recently, the authors designed and fabricated an Instrumented Walkway for the estimation of the ankle mechanical impedance in the sagittal and frontal planes during walking in arbitrary directions [1]. It consists of a powered platform; therefore, the users do not need to wear or carry any measurement device or actuation system other than reflective markers used to record the ankle kinematics with a motion capture camera system. This paper describes the continuous development of the Instrumented Walkway and presents an experimental preliminary validation of its capability to estimate the impedance of a system with time-varying dynamics. To validate the system, a mockup with mechanical characteristics similar to a human lower-leg and controllable time-varying stiffness was used. The stiffness of the mockup was estimated with fixed and time-varying stiffness. With fixed stiffness, a stochastic system identification method was used to estimate the mockup’s impedance. When the mockup presented a time-varying stiffness, a second order parametric model was used. The RMS error between the two methods was 2.81 Nm/rad (maximum 4.12 Nm/rad and minimum of −3.41 Nm/rad). The results show that the proposed approach can estimate the stiffness of systems with time-varying dynamics or static dynamics with similar accuracy. Since the setup was already validated for systems with time-invariant dynamics, it concluded the system’s applicability for time-varying systems such as the human ankle-foot during the stance phase. |
| Sponsorship | Dynamic Systems and Control Division |
| File Format | |
| ISBN | 9780791850695 |
| DOI | 10.1115/DSCC2016-9660 |
| Volume Number | Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation |
| Conference Proceedings | ASME 2016 Dynamic Systems and Control Conference |
| Language | English |
| Publisher Date | 2016-10-12 |
| Publisher Place | Minneapolis, Minnesota, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Errors Stochastic systems Dynamics (mechanics) Mechanical impedance Wear Kinematics Mechanical properties Stiffness Time-varying systems |
| Content Type | Text |
| Resource Type | Article |
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