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Proceedings Papers

Energy Implications of Torque Feedback Control and Series Elastic Actuators for Mobile Robots

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Stephen P. Buerger, Anirban Mazumdar, Steven J. Spencer
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9141
https://doi.org/10.1115/DSCC2018-9141
View Paper titled, Energy Implications of Torque Feedback Control and Series Elastic Actuators for Mobile Robots
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Topics: Actuators, Feedback, Mobile robots, Torque, Energy consumption, Gears, Optimization, Robots, Computation, Design
Proceedings Papers

Development of a Multiple Axis Robotic Platform for Ankle Studies

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Varun Nalam, Hyunglae Lee
Proc. ASME. DSCC2016, 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, V001T07A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9893
https://doi.org/10.1115/DSCC2016-9893
View Paper titled, Development of a Multiple Axis Robotic Platform for Ankle Studies
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Topics: Robotics, Control modeling, Degrees of freedom, Design, Mechanical impedance, Position control, Prostheses, Signals, Stress, Torque
Proceedings Papers

Validation of an Instrumented Walkway Designed for Estimation of the Ankle Impedance in Sagittal and Frontal Planes

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Evandro M. Ficanha, Guilherme Ribeiro, Mohammad Rastgaar Aagaah
Proc. ASME. DSCC2016, 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, V001T06A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9660
https://doi.org/10.1115/DSCC2016-9660
View Paper titled, Validation of an Instrumented Walkway Designed for Estimation of the Ankle Impedance in Sagittal and Frontal Planes
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Topics: Dynamics (Mechanics), Errors, Kinematics, Mechanical impedance, Mechanical properties, Stiffness, Stochastic systems, Time-varying systems, Wear
Proceedings Papers

Instrumented Walkway for Estimation of the Ankle Impedance in Dorsiflexion-Plantarflexion and Inversion-Eversion During Standing and Walking

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Evandro M. Ficanha, Guilherme Ribeiro, Mohammad Rastgaar Aagaah
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T42A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9774
https://doi.org/10.1115/DSCC2015-9774
View Paper titled, Instrumented Walkway for Estimation of the Ankle Impedance in Dorsiflexion-Plantarflexion and Inversion-Eversion During Standing and Walking
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Topics: Actuators, Analytical methods, Cables, Degrees of freedom, Errors, Manufacturing, Mechanical impedance, Rotation, Stiffness
Proceedings Papers

Stochastic Estimation of Human Ankle Mechanical Impedance in Lateral/Medial Rotation

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Evandro M. Ficanha, Mohammad Rastgaar
Proc. ASME. DSCC2014, Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, V002T16A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-5857
https://doi.org/10.1115/DSCC2014-5857
View Paper titled, Stochastic Estimation of Human Ankle Mechanical Impedance in Lateral/Medial Rotation
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Topics: Mechanical impedance, Rotation, Electromyography, Muscle, Degrees of freedom, Robots, Signals, Torque, Transfer functions
Proceedings Papers

Regulation of 3D Human Arm Impedance Through Muscle Co-Contraction

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Harshil Patel, Gerald O’Neill, Panagiotis Artemiadis
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T09A003, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3942
https://doi.org/10.1115/DSCC2013-3942
View Paper titled, Regulation of 3D Human Arm Impedance Through Muscle Co-Contraction
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Topics: Muscle, Stiffness, Anisotropy, Biomechanics, Damping, Engines, Feedback, Inertia (Mechanics), Maintenance, Mechanical impedance
Proceedings Papers

Impedance Reduction Controller Design for Mechanical Systems

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Hanseung Woo, Kyoungchul Kong
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T39A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3737
https://doi.org/10.1115/DSCC2013-3737
View Paper titled, Impedance Reduction Controller Design for Mechanical Systems
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Topics: Control equipment, Design, Mechanical impedance, Safety, Closed loop systems, Engineering simulation, Simulation, Stability
Proceedings Papers

Ankle Mechanical Impedance Under Muscle Fatigue

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Shuo Wang, Hyunglae Lee, Neville Hogan
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T43A006, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4060
https://doi.org/10.1115/DSCC2013-4060
View Paper titled, Ankle Mechanical Impedance Under Muscle Fatigue
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Topics: Fatigue, Mechanical impedance, Muscle, Degrees of freedom, Robots, Signals, Torque, Wounds
Proceedings Papers

Linear Time-Varying Identification of Ankle Mechanical Impedance During Human Walking

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Hyunglae Lee, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 753-758, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8674
https://doi.org/10.1115/DSCC2012-MOVIC2012-8674
View Paper titled, Linear Time-Varying Identification of Ankle Mechanical Impedance During Human Walking
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Topics: Mechanical impedance, Degrees of freedom, Cycles, Muscle, Robots, Signals, Time-varying systems, Transients (Dynamics)
Proceedings Papers

Modeling Dynamic Ankle Mechanical Impedance in Relaxed Muscle

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Hyunglae Lee, Neville Hogan
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 777-782, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-5976
https://doi.org/10.1115/DSCC2011-5976
View Paper titled, Modeling Dynamic Ankle Mechanical Impedance in Relaxed Muscle
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Topics: Mechanical impedance, Modeling, Muscle, Inertia (Mechanics), Poles (Building), Robots, Tendons
Proceedings Papers

Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation

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Hyunglae Lee, Patrick Ho, Mohammad A. Rastgaar, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 321-323, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4062
https://doi.org/10.1115/DSCC2010-4062
View Paper titled, Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation
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Topics: Muscle, Steady state, Springs, Approximation, Degrees of freedom, Mechanical impedance, Torque
Proceedings Papers

Stochastic Estimation of the Multi-Variable Mechanical Impedance of the Human Ankle With Active Muscles

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Mohammad A. Rastgaar, Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 429-431, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4224
https://doi.org/10.1115/DSCC2010-4224
View Paper titled, Stochastic Estimation of the Multi-Variable Mechanical Impedance of the Human Ankle With Active Muscles
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Topics: Mechanical impedance, Muscle, Torque, Electromyography, Robots, Signals, Transfer functions
Proceedings Papers

Interpretation of the Directional Properties of Voluntarily Modulated Human Ankle Mechanical Impedance

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Patrick Ho, Hyunglae Lee, Mohammad A. Rastgaar, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 467-472, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4274
https://doi.org/10.1115/DSCC2010-4274
View Paper titled, Interpretation of the Directional Properties of Voluntarily Modulated Human Ankle Mechanical Impedance
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Topics: Mechanical impedance, Muscle, Fourier series, Robots, Springs
Proceedings Papers

Directional Variation of Active and Passive Ankle Static Impedance

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Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 1, 53-55, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2573
https://doi.org/10.1115/DSCC2009-2573
View Paper titled, Directional Variation of Active and Passive Ankle Static Impedance
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Topics: Degrees of freedom, Mechanical impedance, Muscle
Proceedings Papers

Stochastic Estimation of Multi-Variable Human Ankle Mechanical Impedance

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Mohammad A. Rastgaar, Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, Neville Hogan
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 45-47, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2643
https://doi.org/10.1115/DSCC2009-2643
View Paper titled, Stochastic Estimation of Multi-Variable Human Ankle Mechanical Impedance
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Topics: Mechanical impedance, Robots, Torque, Transfer functions