Journal article
A robust phase oscillator design for wearable robotic systems
Robotics and autonomous systems, v 128, p103514
01 Jun 2020
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
The design of a phase-based robust oscillator for wearable robots, that could assist humans performing periodic or repetitive tasks, is presented in this paper. The bounds on perturbations, that guaranteed the stability of the output for the phase oscillator controller, were identified and the Lyapunov redesign method was applied to construct a robust controller using a bounding function. The robust controller produced a bounded control signal to modify the amplitude and frequency of the resulting second-order oscillator to modulate the stiffness and damping properties. In this paper, the focus is on the mathematical modeling of the controller, its dynamic stability and robustness for human-robot application. The proposed approach was verified through a simple pendulum experiment. The results provided evidence that a better limit cycle, with a controlled radial spread of the steady state, was obtained with Lyapunov redesigned phase oscillator. Finally, the potential of the proposed approach for hip assistance in a healthy subject wearing HeSa (Hip Exoskeleton for Superior Assistance) during periodic activities are discussed with preliminary results. (C) 2020 Elsevier B.V. All rights reserved.
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Details
- Title
- A robust phase oscillator design for wearable robotic systems
- Creators
- Juan De La Fuente - Arizona State UniversitySusheelkumar C. Subramanian - Arizona State UniversityThomas G. Sugar - Arizona State UniversitySangram Redkar - Arizona State University
- Publication Details
- Robotics and autonomous systems, v 128, p103514
- Publisher
- Elsevier
- Number of pages
- 17
- Grant note
- W911NF-15-1-0162 / DARPA, United States of America Award under Hip Exoskeleton for Superior Assistance Grant
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:000528251900008
- Scopus ID
- 2-s2.0-85082849379
- Other Identifier
- 991021890005004721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Computer Science, Artificial Intelligence
- Robotics