Effects of Mechanical Impedance (Joint Stiffness and Damping) on Wrist Movement

2018 ◽  
pp. 85-96
Author(s):  
Paolo Tommasino
Keyword(s):  
Joint Stiffness ◽  
Mechanical Impedance ◽  
Wrist Movement ◽  
Stiffness And Damping

Dynamic Characterization of an Integral Squeeze Film Bearing Support Damper for a Supercritical CO2 Expander

2017 ◽  
Author(s):  
Bugra Ertas ◽  
Adolfo Delgado ◽  
Jeffrey Moore
Keyword(s):  
High Speed ◽  
Dynamic Performance ◽  
Mechanical Impedance ◽  
Squeeze Film ◽  
Fluid Inertia ◽  
Inertia Effects ◽  
Damping Behavior ◽  
Impedance Testing ◽  
Stiffness And Damping ◽  
Onset Of Cavitation

The present work advances experimental results and analytical predictions on the dynamic performance of an integral squeeze film damper (ISFD) for application in a high-speed super-critical CO2 (sCO2) expander. The test campaign focused on conducting controlled orbital motion mechanical impedance testing aimed at extracting stiffness and damping coefficients for varying end seal clearances, excitation frequencies, and vibration amplitudes. In addition to the measurement of stiffness and damping; the testing revealed the onset of cavitation for the ISFD. Results show damping behavior that is constant with vibratory velocity for each end seal clearance case until the onset of cavitation/air ingestion, while the direct stiffness measurement was shown to be linear. Measurable added inertia coefficients were also identified. The predictive model uses an isothermal finite element method to solve for dynamic pressures for an incompressible fluid using a modified Reynolds equation accounting for fluid inertia effects. The predictions revealed good correlation for experimentally measured direct damping, but resulted in grossly overpredicted inertia coefficients when compared to experiments.

scholarly journals Estimation of the Two Degrees-of-Freedom Time-Varying Impedance of the Human Ankle

2018 ◽  
Vol 12 (1) ◽  
Author(s):  
Evandro Ficanha ◽  
Guilherme Ribeiro ◽  
Lauren Knop ◽  
Mo Rastgaar
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Impedance ◽  
Heel Strike ◽  
Time Varying ◽  
Two Degrees Of Freedom ◽  
Impedance Modulation ◽  
Ankle Stiffness ◽  
Human Ankle ◽  
Stiffness And Damping ◽  
And Inversion

An understanding of the time-varying mechanical impedance of the ankle during walking is fundamental in the design of active ankle-foot prostheses and lower extremity rehabilitation devices. This paper describes the estimation of the time-varying mechanical impedance of the human ankle in both dorsiflexion–plantarflexion (DP) and inversion–eversion (IE) during walking in a straight line. The impedance was estimated using a two degrees-of-freedom (DOF) vibrating platform and instrumented walkway. The perturbations were applied at eight different axes of rotation combining different amounts of DP and IE rotations of four male subjects. The observed stiffness and damping were low at heel strike, increased during the mid-stance, and decreases at push-off. At heel strike, it was observed that both the damping and stiffness were larger in IE than in DP. The maximum average ankle stiffness was 5.43 N·m/rad/kg at 31% of the stance length (SL) when combining plantarflexion and inversion and the minimum average was 1.14 N·m/rad/kg at 7% of the SL when combining dorsiflexion and eversion. The maximum average ankle damping was 0.080 Nms/rad/kg at 38% of the SL when combining plantarflexion and inversion, and the minimum average was 0.016 Nms/rad/kg at 7% of the SL when combining plantarflexion and eversion. From 23% to 93% of the SL, the largest ankle stiffness and damping occurred during the combination of plantarflexion and inversion or dorsiflexion and eversion. These rotations are the resulting motion of the ankle's subtalar joint, suggesting that the role of this joint and the muscles involved in the ankle rotation are significant in the impedance modulation in both DP and IE during gait.

scholarly journals Characterization and clinical implications of ankle impedance during walking in chronic stroke

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Amanda L. Shorter ◽  
James K. Richardson ◽  
Suzanne B. Finucane ◽  
Varun Joshi ◽  
Keith Gordon ◽  
...  
Keyword(s):  
Ankle Joint ◽  
Stance Phase ◽  
Clinical Care ◽  
Joint Stiffness ◽  
Mechanical Impedance ◽  
Chronic Stroke ◽  
Joint Mechanics ◽  
Clinical Assessments ◽  
Post Stroke ◽  
Joint Damping

AbstractIndividuals post-stroke experience persisting gait deficits due to altered joint mechanics, known clinically as spasticity, hypertonia, and paresis. In engineering, these concepts are described as stiffness and damping, or collectively as joint mechanical impedance, when considered with limb inertia. Typical clinical assessments of these properties are obtained while the patient is at rest using qualitative measures, and the link between the assessments and functional outcomes and mobility is unclear. In this study we quantify ankle mechanical impedance dynamically during walking in individuals post-stroke and in age-speed matched control subjects, and examine the relationships between mechanical impedance and clinical measures of mobility and impairment. Perturbations were applied to the ankle joint during the stance phase of walking, and least-squares system identification techniques were used to estimate mechanical impedance. Stiffness of the paretic ankle was decreased during mid-stance when compared to the non-paretic side; a change independent of muscle activity. Inter-limb differences in ankle joint damping, but not joint stiffness or passive clinical assessments, strongly predicted walking speed and distance. This work provides the first insights into how stroke alters joint mechanical impedance during walking, as well as how these changes relate to existing outcome measures. Our results inform clinical care, suggesting a focus on correcting stance phase mechanics could potentially improve mobility of chronic stroke survivors.

Identification of Joint Parameters for a Taper Joint

1989 ◽  
Vol 111 (3) ◽  
pp. 282-287 ◽  
Author(s):  
T. R. Kim ◽  
S. M. Wu ◽  
K. F. Eman
Keyword(s):  
Finite Element ◽  
Experimental Verification ◽  
Joint Stiffness ◽  
Element Model ◽  
Damping Characteristics ◽  
Analysis Technique ◽  
Joint Parameters ◽  
Stiffness And Damping ◽  
Taper Joint ◽  
The Finite Element Model

A new methodology of combining the finite element model of a structure with the results of the experimental modal analysis technique was applied to a tool-holder system with a taper joint to identify its joint stiffness and damping characteristics. The underlying background is briefly introduced followed by an experimental verification of the proposed method.

scholarly journals Rotordynamic Force Coefficients of Pocket Damper Seals

2006 ◽  
Vol 128 (4) ◽  
pp. 725-737 ◽  
Author(s):  
B. Ertas ◽  
A. Gamal ◽  
J. Vance
Keyword(s):  
Dynamic Pressure ◽  
Mechanical Impedance ◽  
Experimental Tests ◽  
Impedance Method ◽  
Force Density ◽  
Frequency Dependent ◽  
Force Coefficients ◽  
Cross Axis ◽  
Positive Direct ◽  
Stiffness And Damping

This paper presents measured frequency dependent stiffness and damping coefficients for 12-bladed and 8-bladed pocket damper seals (PDS) subdivided into four different seal configurations. Rotating experimental tests are presented for inlet pressures at 69 bar (1000 psi), a frequency excitation range of 20–300 Hz, and rotor speeds up to 20,200 rpm. The testing method used to determine direct and cross-coupled force coefficients was the mechanical impedance method, which required the measurement of external shaker forces, system accelerations, and motion in two orthogonal directions. In addition to the impedance measurements, dynamic pressure responses were measured for individual seal cavities of the eight-bladed PDS. Results of the frequency dependent force coefficients for the four PDS designs are compared. The conclusions of the tests show that the eight-bladed PDS possessed significantly more positive direct damping and negative direct stiffness than the 12-bladed seal. The results from the dynamic pressure response tests show that the diverging clearance design strongly influences the dynamic pressure phase and force density of the seal cavities. The tests also revealed the measurement of same-sign cross-coupled (cross-axis) stiffness coefficients for all seals, which indicate that the seals do not produce a destabilizing influence on rotor-bearing systems.

scholarly journals Rotordynamic Force Coefficients of Pocket Damper Seals

2006 ◽  
Author(s):  
B. Ertas ◽  
A. Gamal ◽  
J. Vance
Keyword(s):  
Dynamic Pressure ◽  
Mechanical Impedance ◽  
Impedance Method ◽  
Force Density ◽  
Frequency Dependent ◽  
Force Coefficients ◽  
Direct Stiffness ◽  
Cross Axis ◽  
Positive Direct ◽  
Stiffness And Damping

This paper presents measured frequency dependent stiffness and damping coefficients for 12 and 8 bladed pocket damper seals (PDS) subdivided into 4 different seal configurations. Rotating experimental test are presented for inlet pressures at 69 bar (1,000 psi), a frequency excitation range of 20–300 Hz, and rotor speeds up to 20,200 rpm. The testing method used to determine direct and cross-coupled force coefficients was the mechanical impedance method, which required the measurement of external shaker forces, system accelerations, and motion in two orthogonal directions. In addition to the impedance measurements, dynamic pressure responses were measured for individual seal cavities of the 8 bladed PDS. Results of the frequency dependent force coefficients for the 4 PDS designs are compared. The conclusions of the test show that the 8 bladed PDS possessed significantly more positive direct damping and negative direct stiffness than the 12 bladed seal. The results from the dynamic pressure response tests show that the diverging clearance design strongly influences the dynamic pressure phase and force density of the seal cavities. The tests also revealed the measurement of same-sign cross-coupled (cross-axis) stiffness coefficients for all seals, which indicate that the seals do not produce a de-stabilizing influence on rotor-bearing systems.

Identification of Time-Varying Stiffness, Damping, and Equilibrium Position in Human Forearm Movements

Motor Control ◽  
1999 ◽  
Vol 3 (4) ◽  
pp. 394-413 ◽  
Author(s):  
Jürgen Konczak ◽  
Kai Brommann ◽  
Karl Theodor Kalveram
Keyword(s):  
Equilibrium Position ◽  
A Priori ◽  
Joint Stiffness ◽  
Mechanical Impedance ◽  
Forward Model ◽  
Positional Error ◽  
Directed Movement ◽  
External Bias ◽  
Human Forearm ◽  
Impedance Parameters

Knowledge of how stiffness, damping, and the equilibrium position of specific limbs change during voluntary motion is important for understanding basic strategies of neuromotor control. Presented here is an algorithm for identifying time-dependent changes in joint stiffness, damping, and equilibrium position of the human forearm. The procedure requires data from only a single trial. The method relies neither on an analysis of the resonant frequency of the arm nor on the presence of an external bias force. Its validity was tested with a simulated forward model of the human forearm. Using the parameter estimations as forward model input, the angular kinematics (model output) were reconstructed and compared to the empirically measured data. Identification of mechanical impedance is based on a least-squares solution of the model equation. As a regularization technique and to improve the temporal resolution of the identification process, a moving temporal window with a variable width was imposed. The method's performance was tested by (a) identifying a priori known hypothetical time-series of stiffness, damping, and equilibrium position, and (b) determining impedance parameters from recorded single-joint forearm movements during a hold and a goal-directed movement task. The method reliably reconstructed the original angular kinematics of the artificial and human data with an average positional error of less than 0.05 rad for movement amplitudes of up to 0.9 rad, and did not yield hypermetric trajectories like previous procedures not accounting for damping.

scholarly journals Impedance of the Human Ankle During Standing for Posture Control

2018 ◽  
Author(s):  
G. A. Ribeiro ◽  
E. Ficanha ◽  
L. Knop ◽  
M. Rastgaar
Keyword(s):  
Mechanical Impedance ◽  
Posture Control ◽  
Resultant Force ◽  
Order System ◽  
Time Varying ◽  
Ankle Impedance ◽  
Impedance Modulation ◽  
Human Ankle ◽  
Stiffness And Damping ◽  
Antagonistic Muscles

The stiffness and damping of anatomical joints can be modulated by muscle co-contraction, where antagonistic muscles contract simultaneously, increasing both the joint’s stiffness and damping. In a second order system, the mechanical impedance, or simply impedance, is a function of the system’s inertia, damping, and stiffness. The ankle impedance can be defined as the resultant force due to an external motion perturbation. The impedance modulation of the human ankle is required for stable walking. The estimation of the time-varying impedance modulation of the human ankle is the focus of research by different groups [1,2].

Ankle Joint Stiffness and Damping Pattern under Different Frequency of Translation Perturbation

2013 ◽  
Vol 393 ◽  
pp. 703-708 ◽  
Author(s):  
Aizreena Azaman ◽  
Shin Ichiroh Yamamoto
Keyword(s):  
Ankle Joint ◽  
Joint Stiffness ◽  
Effective Stiffness ◽  
Quiet Standing ◽  
Inverted Pendulum Model ◽  
Balance Ability ◽  
The Mean ◽  
Curve Fitting Method ◽  
Stiffness And Damping ◽  
Translation Perturbation

The change of effective stiffness and damping characteristic of ankle joint are able to indicate degeneration of balance ability due to ageing effect. This paper will discuss the ankle joint stiffness and damping pattern along repeated translation perturbation. Six young healthy subjects were exposed to five trials of five different frequencies of perturbation (quiet standing, 0.2 Hz, 0.4 Hz, 0.6 Hz and 0.8 Hz). The result showed that the mean of effective stiffness was reduced with the increase of frequency applied; meanwhile the mean of damping value increased with increasing frequency. Additionally, a cubic polynomial curve (u-shape) was estimated to represent stiffness pattern when using curve fitting method with correlation R2>0.5. These estimations also suggested that ankle joint does not oscillate like spring-damper system which is based on inverted pendulum model; however, it applied a different strategy to maintain balance, in particular during initiation, middle and termination of perturbation. These also indicate the influence of sensory processing and adaptation to maintain balance under a long period of disturbance. On the other hand, damping pattern seems to be similar over different frequencies and under repeated perturbation. Besides, the change of stiffness pattern at higher frequency of perturbation (0.8 Hz) recommends the change in posture strategy from ankle to hip strategy. These findings indicated that stiffness and damping are able to describe adaptation of human posture strategy to keep balance and motor learning under repeated perturbation.

scholarly journals Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

2021 ◽  
Vol 8 ◽  
Author(s):  
Haiquan Li ◽  
Qingqing Wei ◽  
Jianxun Liang ◽  
Weiyan Ren ◽  
Zixin Tang ◽  
...  
Keyword(s):  
Test Data ◽  
Joint Stiffness ◽  
Test System ◽  
Vibration Characteristics ◽  
Air Bearing ◽  
Air Bearings ◽  
Space Manipulator ◽  
Space Manipulators ◽  
Ground Test ◽  
Stiffness And Damping

Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.

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