Search results

The purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground.

First, a suitable trajectory of the swing foot is preplanned to avoid the impulsive reaction forces in the walking direction. Second, the impulsive reaction forces of the landing impact are suppressed by the on-line trajectory modification based on the extended time-domain passivity control with admittance causality that has the reaction forces as inputs and the decomposed swing foot’s positions to trim off the forces as the outputs.

The experiment data and results are described and analyzed, showing that the proposed soft landing control strategy can suppress the impulsive forces and improve walking stability.

The main contribution is that a soft landing control strategy for a biped robot was proposed to deal with the impulsive reaction forces generated by the landing impact, which enhances walking stability.

This paper aims to overcome some of the practical difficulties in assistive control of exoskeletons by developing a new assistive algorithm, called output feedback assistive control (OFAC) method. This method does not require feedbacks from force, electromyography (EMG) or acceleration signals or even their estimated values.

The presented controller uses feedbacks from position and velocity of the output link of series elastic actuators (SEAs) to increase the apparent integral admittance of the assisted systems. Optimal controller coefficients are obtained by maximizing the assistance ratio subjected to constraints of stability, coupled stability and a newly defined comfort measure.

The results confirm the effectiveness of using the inherent properties of SEAs for removing the need for extra controversial sensors in assistive control of 1 degree of freedom (1-DOF) SEA powered exoskeletons. The results also clearly indicate the successful performance of the OFAC method in reducing the external forces required for moving the assisted systems.

As the provided experiments indicate, the proposed method can be easily applied to single DOF compliantly actuated exoskeletons to provide a more reliable assistance with lower costs. This is achieved by removing the need for extra controversial sensors.

This paper proposes a novel assistive controller for SEA-powered exoskeletons with a simple model-free structure and independent of any information about interaction forces and future paths of the system. It also removes the requirement for the extra sensors and transforms the assistive control of the compliantly actuated systems into a simpler problem of position control of the SEA motor.

This paper aims to make an industrial robot intelligently and remotely cooperate with humans to work in unknown unstructured environments.

Presents a bilateral adaptive teleoperation control approach involving a contact force driven compensation with an auto‐switching function, which utilizes a biologically motivated compliance function. Based on sensed contact force, the switching function can adjust its slave control input to decide how much robotic intelligences should intervene in the system by switching modes. Other schemes for robotic intelligence, robotic impedances and compensators, are investigated to guarantee good transparency without warranting human error and maintain a stable contact, based on the force feedback, in constrained motion while a communication delay exists.

The simulation and experimental results demonstrate transparency and contact stability in the presence of constant and time‐varying communication delays, respectively. The proposed bilateral adaptive teleoperation control method outperforms three other techniques.

This paper introduces an adaptive teleoperation control method with local robotic intelligence assistance. The developed method does not modify the existing designs of industrial robots. The contact force and position and force errors are well controlled to obtain a stable contact and transparency, through adaptation of robotic impedances.

Haptic interfaces enable person‐machine communication through touch, and most commonly, in response to user movements. We comment on a distinct property of haptic interfaces, that of providing for simultaneous information exchange between a user and a machine. We also comment on the fact that, like other kinds of displays, they can take advantage of both the strengths and the limitations of human perception. The paper then proceeds with a description of the components and the modus operandi of haptic interfaces, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.

This paper aims to present a SPICE model to represent antennas in receiving mode. The model can be used to evaluate the performance of the antenna when it is coupled to several different nonlinear electric circuits. The proposed methodology is particularly suitable for rectenna applications, as it allows the analysis of different configurations for a rectenna more efficiently than using full-wave analysis simulators coupled directly to each rectifier circuit.

The model presented uses reciprocity theory to calculate the ideal voltage source of the Thevenin-equivalent circuit for an antenna. Vector fitting is then used to approximate the model to rational functions that can be converted to Resistor, Inductor and Capacitor circuits. Additional components are added to the circuit to prevent numerical instability.

Two rectennas are used to illustrate the performance of the proposed model, one based on a 2.45-GHz rectangular patch antenna and another based on a planar spiral antenna. The second antenna has impedance with positive and negative real parts along the frequency range, which could lead to numerical instabilities. The proposed method is shown to be stable while working with these negative resistance values, which may appear during circuit parameterization.

The equivalent SPICE circuit model for the antenna makes it easy to simulate nonlinear circuits connected to the antenna and perform transient analyses. The computational cost of antenna analysis is reduced, being more computationally efficient than methods that involve full-wave simulation. This characteristic makes it an interesting approach for working with rectennas, or any application where the time constant of the circuit is much longer than the period of the incident wave.

For most antenna applications, the numerical stability of the circuit can be achieved using passive enforcement. However, depending on the phase response of the antenna, the impedance that represents its far-field characteristic may present a negative real part, in which case, passive enforcement will fail. In this paper, the problem of numerical instability is solved by introducing an offset resistance and a current-controlled voltage source to the model.

The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human–robot interaction by estimating the human hand stiffness and presenting a modified vibration index.

Human hand stiffness is first estimated in real time as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A time-domain vibration index based on the interaction force is then modified to reduce the delay in instability detection. The instability is confirmed when the vibration index exceeds a given threshold. The virtual damping coefficient in admittance controller is adjusted accordingly to ensure stability in physical human–robot interaction.

By estimating the human hand stiffness and modifying the vibration index, the instability which may occur in stiff environment in physical human–robot interaction is detected and eliminated, and the time delay is reduced. The experimental results demonstrate significant improvement in stabilizing the system when the human operator stiffens his arms.

The originality is in estimating the human hand stiffness online as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A modification of the vibration index is also an originality to reduce the time delay of instability detection.

The paper aims to present an overview of techniques for the identification in the frequency domain of reduced order models for distributed passive electromagnetic structures.

Most known approaches proposed in different application contexts are described within a unified framework.

A passive reduced order model of an unshielded twisted pair is fully developed with the combination of vector fitting algorithm and the passivity enforcement via Hamiltonian perturbation.

A state‐of‐the‐art picture of the frequency domain identification and passivity enforcement techniques is given, and a test case of actual interest fully analysed.

To provide an efficient and accurate model for interconnect networks characterised by frequency‐domain scattering or admittance parameters. The parameters are derived from measurements or rigorous full‐wave simulation.

Initially, Hilbert transform relationships are enforced to ensure causality. A reverse Fourier series representation of the discrete data is then converted to the z‐domain and from this a state‐space formulation is determined. This enables the application of a judiciously chosen model reduction algorithm to obtain an efficient time‐domain representation of the network.

Sample results from both simulated and measured data indicate the efficacy of the proposed modelling strategy. For successful implementation of the strategy, it is necessary to employ the Hilbert transform to ensure that a causal impulse response is obtained.

The method is applicable to the interconnect networks for which the analytical models cannot be obtained due to the complexity and inhomogeneity of the geometries involved.

The work combines in a novel manner aspects from several existing techniques proposed for network simulation and model reduction. The end result is a highly efficient causal, stable and passive representation of the network in question for implementation in a time‐domain circuit simulator.

This paper aims to purpose an improved sensorless position-based force controller in gravitational direction for applications including polishing, milling and deburring.

The first issue is the external force/torque estimation at end-effector. By using motor’s current information and Moore-Penrose generalized inverse matrix, it can be derived from the external torques of every joints for nonsingular cases. The second issue is the force control strategy which is based on position-based impedance control model. Two novel improvements were made to achieve a better performance. One is combination of impedance control and explicit force control. The other one is the real-time prediction of the surface’s shape allowing the controller adaptive to arbitrary surfaces.

The result of validation experiments indicates that the estimation of external force and prediction of surface’s shape are credible, and the position-based constant contact force controller in gravitational direction is functional. The accuracy of force tracking is adequate for targeted applications such as polishing, deburring and milling.

The value of this paper lies in three aspects which are sensorless external force estimation, the combination of impedance control and explicit force control and the independence of surface shape information achieved by real-time surface prediction.

The purpose of this paper is to present a novel five‐electrode electrochemical corrosion sensor. Health degradation by the corrosion of steel in civil engineering is a persistent problem. Structural health monitoring (SHM) techniques, including embedded sensors, can greatly improve the quantification of the steel corrosion information, which can lead to promote assessments of structural safety and serviceability. To integrate the corrosion monitoring system in future, the corrosion sensor and the monitoring methods have been explored here in advance. Also, the corrosion monitoring system has been applied preliminarily in the investigation of reinforcing concrete (RC) beams.

First, a novel five‐electrode electrochemical corrosion sensor has been developed as the hardware to provide the platform for corrosion monitoring methods. Second, half‐cell potential of the RC beams has been measured before and after corrosion. Third, galvanostatic step method has been used to excite the steel‐concrete system, and the transient response of the system has been obtained and analyzed. Finally, wavelet transform algorithm has been established to analyze the electrochemical noise (EN) data of the steel bars in RC beams.

The results show that the corrosion sensor can be used effectively as the hardware to support the electrochemical measuring techniques. Much valuable information which is extracted by analyzing the potential response to the galvanostatic pulse excitation can be applied to determine the general corrosion state of the reinforcing steel. For pitting corrosion, the energy distribution plot of EN can be adopted as a benchmark method to identify the presence of the corrosion pit.

The paper provides the key techniques for a SHM system to realize corrosion monitoring of large‐scale RC structures in the future.