Development of a knee joint assist suit with a velocity-based mechanical safety device: Control method and experiments

2020 ◽  
Vol 30 ◽  
pp. 23-26
Author(s):  
Keisuke Ikeda ◽  
Tsubasa Kaneda ◽  
Yoshihiro Kai ◽  
Kenichi Sugawara ◽  
Tetsuya Tanioka ◽  
...  
Keyword(s):  
Knee Joint ◽  
Control Method ◽  
Safety Device

Design of a New Compact Velocity-Based Mechanical Safety Device for a Knee Joint Assist Suit

2020 ◽  
Author(s):  
Yoshihiro Kai ◽  
Keisuke Ikeda ◽  
Atsushi Kaneta ◽  
Tsubasa Kaneda ◽  
Kenichi Sugawara ◽  
...  
Keyword(s):  
Knee Joint ◽  
Safety Device

Skid Control of Small Electric Vehicles with In-Wheel Motors (Effect of ABS and Regenerative Brake Timing Control on Emergency Braking)

2015 ◽  
Vol 789-790 ◽  
pp. 927-931
Author(s):  
Mohamad Heerwan bin Peeie ◽  
Hirohiko Ogino ◽  
Yoshio Yamamoto
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Brake System ◽  
Regenerative Braking ◽  
Timing Control ◽  
Safety Device ◽  
Hydraulic Unit ◽  
Emergency Braking ◽  
Hydraulic Brake ◽  
Space Limitation

This paper presents an active safety device for skid control of small electric vehicles with in-wheel motors. Due to the space limitation on the driving tire, a mechanical brake system was installed rather than hydraulic brake system. For the same reason, anti-lock brake system (ABS) that is a basic skid control method cannot be installed on the driving tire. During braking on icy road or emergency braking, the tire will be locked and the vehicle is skidding. To prevent tire lock-up and vehicle from skidding, we proposed the combination of ABS and regenerative brake timing control. The hydraulic unit of ABS is installed on the non-driving tire while the in-wheel motors on the driving tire will be an actuator of ABS to control the regenerative braking force. The performance of the ABS and regenerative brake timing control on the emergency braking situation is measured by the simulation. The simulation result shows that the combination of ABS and regenerative brake timing control can prevent tire lock-up and vehicle from skidding.

scholarly journals A model-free control method for estimating the joint angles of the knee exoskeleton

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880776 ◽  
Author(s):  
Yan Zhang ◽  
Jianzhou Wang ◽  
Wei Li ◽  
Jie Wang ◽  
Peng Yang
Keyword(s):  
Knee Joint ◽  
Joint Angle ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Joint Angles ◽  
Output Data ◽  
Model Free ◽  
Model Free Control ◽  
Discrete Sliding Mode Control

This article describes a model-free adaptive control method for knee joint exoskeleton, which avoids the complexity of human–exoskeleton modeling. An important feature of the proposed controller is that it uses the input and output data of the knee joint angle to control the exoskeleton. Furthermore, discrete sliding mode control law and prior torque are introduced to improve the accuracy and robustness of the system. Prior torque of knee joint is obtained through the walking simulation of human–exoskeleton modeling. Specially, the experiment is carried out by using the co-simulation automatic dynamic analysis of mechanical systems and MATLAB. Data from these assessments indicate that the proposed strategy enables the knee exoskeleton to track the trajectory of angle well and has a good performance on walking assistance.

Self-Learning Control of PMA-Actuated Knee-Joint Rehabilitation Training Device Based on Fuzzy Neural Network

2011 ◽  
Vol 467-469 ◽  
pp. 1645-1650
Author(s):  
Xiao Li ◽  
Xia Hong ◽  
Ting Guan
Keyword(s):  
Neural Network ◽  
Knee Joint ◽  
Pid Controller ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Learning Control ◽  
Training Device ◽  
Rehabilitation Training ◽  
Fuzzy Neural ◽  
Self Learning

To solve the problem of the delay, nonlinearity and time-varying properties of PMA-actuated knee-joint rehabilitation training device, a self-learning control method based on fuzzy neural network is proposed in this paper. A self-learning controller was designed based on the combination of pid controller, feedforward controller, fuzzy neural network controller, and learning mechanism. It was applied to the isokinetic continuous passive motion control of the PMA-actuated knee-joint rehabilitation training device. The experiments proved that the self-learning controller has the properties of high control accuracy and unti-disturbance capability, comparing with pid controller. This control method provides the beneficial reference for improving the control performance of such system.

scholarly journals A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

2018 ◽  
Vol 2018 ◽  
pp. 1-17
Author(s):  
Xia Zhang ◽  
Wenliang Ge ◽  
Hao Fu ◽  
Renxiang Chen ◽  
Tianhong Luo ◽  
...  
Keyword(s):  
Knee Joint ◽  
Hip Joint ◽  
Control Method ◽  
Impedance Control ◽  
Lyapunov Stability Theory ◽  
Human Robot Interaction ◽  
Joint Torque ◽  
Coordination Control ◽  
Linkage Mechanism ◽  
Control Laws

A biologically inspired motion control method is introduced to ameliorate the flexibility and multijoint autonomy of assistive walking devices based on human-robot interactions (HRIs). A new HRI-based coordination control system consisting of a hip central pattern generator (CPG) control, a knee hierarchical impedance control, and a hip-knee linkage control is also investigated. Simulations and walking experiments are carried out which demonstrate that (i) the self-oscillation and external communication characteristics of the CPG are capable of realizing ideal master/slave hip joint trajectories. In addition, symmetrical inhibition in the CPG unit is essential for maintaining the antiphase motion of the left and right hip joints. (ii) High and low hierarchical impedance control laws allow appropriate knee joint torque to be calculated to maintain posture during the support and swing phases as walking proceeds. (iii) A hip-knee joint linkage mechanism which incorporates a hip joint CPG control and knee joint impedance control allows natural and relevant hip-knee trajectories to be realized. The stability of the HRI-based coordination control method is also confirmed using Lyapunov stability theory.

scholarly journals Development of a knee joint assist suit with a velocity-based mechanical safety device (Transient response analysis of the safety device and experiments)

2019 ◽  
Vol 85 (876) ◽  
pp. 19-00146-19-00146 ◽  
Author(s):  
Tsubasa KANEDA ◽  
Yoshihiro KAI ◽  
Masahito SUGIYAMA ◽  
Kenichi SUGAWARA ◽  
Masayoshi TOMIZUKA
Keyword(s):  
Knee Joint ◽  
Transient Response ◽  
Response Analysis ◽  
Safety Device ◽  
Transient Response Analysis

scholarly journals Development of a knee joint assist suit with a velocity-based mechanical safety device (Frequency response analysis of the safety device and experiments)

2018 ◽  
Vol 84 (867) ◽  
pp. 18-00314-18-00314 ◽  
Author(s):  
Yoshihiro KAI ◽  
Keisuke IKEDA ◽  
Chihiro KUROSAWA ◽  
Masahito SUGIYAMA ◽  
Kenichi SUGAWARA ◽  
...  
Keyword(s):  
Knee Joint ◽  
Frequency Response ◽  
Response Analysis ◽  
Frequency Response Analysis ◽  
Safety Device

Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype

2018 ◽  
Author(s):  
Poya Khalaf ◽  
Holly Warner ◽  
Elizabeth Hardin ◽  
Hanz Richter ◽  
Dan Simon
Keyword(s):  
Knee Joint ◽  
Experimental Evaluation ◽  
Control Method ◽  
Impedance Control ◽  
Test Subject ◽  
Net Energy ◽  
Energy Regeneration ◽  
Control Approach ◽  
All Speeds ◽  
Walking Speeds

We present the design, control, and experimental evaluation of an energy regenerative powered transfemoral prosthesis. Our prosthesis prototype is comprised of a passive ankle and a powered knee joint. The knee joint is actuated by an ultracapacitor based regenerative drive mechanism. A novel varying impedance control approach controls the prosthesis in both the stance and swing phase of the gait cycle, while explicitly considering energy regeneration. This control method varies the impedance of the knee joint based on the amount of force exerted on the shank of the prosthesis. Furthermore, the controller promotes energy regeneration by precisely injecting a designated amount of negative damping into the system. Our control approach leads to a few tuning parameters that cover all of the gait phases for walking and all of the tested walking speeds and eliminates the need for tedious target impedance scheduling. Experimental evaluation is done with an amputee test subject walking at different speeds on a treadmill. The results validate the effectiveness of the control method. In addition, net energy regeneration is achieved while walking with near-natural gait across all speeds.

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