On the System-Theoretic Passivity Properties of a Hill Muscle Model

Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications ◽

10.1115/dscc2015-9817 ◽

2015 ◽

Author(s):

Hanz Richter ◽

Antonie J. van den Bogert

Keyword(s):

Muscle Contraction ◽

Transient Response ◽

Force Feedback ◽

Coupled System ◽

Human Muscle ◽

Muscle Model ◽

Contractile Element ◽

Input Output ◽

Contraction Velocity ◽

Feedback Regulator

The paper describes passivity-related input-output properties of a human muscle and tendon system given by a Hill type dynamic model. For a model having muscle contraction velocity as the input and force as the output, it is shown that the system is passive during the concentric phase. Also, it is shown that a negative strict passivity margin exists for the eccentric phase if the length and lengthening velocity of the contractile element are assumed bounded. Estimates of this margin are given by means of two alternative formulas. Further, it is shown that the mapping from contraction velocity to deviation from equilibrium force is passive in both concentric and eccentric phases. The paper discusses how these findings and the passivity theorem can be used to design controllers for a machine coupled to the muscle model by feedback interconnection. The simple case of a proportional-derivative force feedback regulator is considered as an example. A simulation example is given where the transient response of the coupled system crosses the eccentric region.

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Design of a Force Feedback Chatter Control System

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3426544 ◽

1972 ◽

Vol 94 (1) ◽

pp. 5-10 ◽

Cited By ~ 5

Author(s):

C. Nachtigal

Keyword(s):

Machine Tool ◽

Frequency Domain ◽

Transient Response ◽

Force Feedback ◽

Design Procedure ◽

Experimental Tests ◽

Work Piece ◽

Regenerative Chatter ◽

Chatter Control ◽

The Stability

The analysis of machine tool chatter from frequency domain considerations is generally accepted as a valid representation of the regenerative chatter phenomenon. However, active control of regenerative chatter is still in its embryonic stage. It was established in reference [2] that a measurement of the cutting force could be effectively used in conjunction with a controller and a tool position servo system to increase the stability of an engine lathe and to improve its transient response. This paper presents the design basis for such a system, including both analytical and experimental considerations. The design procedure stems from a real part stability criterion based on the work by Merritt [1]. Because of the unknown variability in the dynamics of a machine tool system, the controller parameters were chosen to accomodate some mismatch between structure and tool servo dynamics. Experimental tests to determine the stability zone of the controlled machine tool system qualitatively confirmed the analytical design results. The experimental results were consistent in that the transient response tests confirmed the frequency domain stability tests. It was also demonstrated experimentally that the equivalent static stiffness of a flexible work-piece system could be substantially increased.

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Opportunities and Challenges in Porting a Parallel Code from a Tightly-Coupled System to the Distributed EU Grid, Enabling Grids for E-sciencE

Handbook of Research on Computational Science and Engineering - Advances in Computer and Electrical Engineering ◽

10.4018/978-1-61350-116-0.ch009 ◽

2012 ◽

pp. 197-217

Author(s):

Fumie Costen ◽

Akos Balasko

Keyword(s):

Large Scale ◽

Coupled System ◽

The Other ◽

Data Input ◽

Final Solution ◽

Input Output ◽

Weak Point ◽

Computational Environment ◽

Tightly Coupled ◽

Parallel Code

The computational architecture of Enabling Grids for E-sciencE is introduced as it made our code porting very challenging, and the discussion presented is directly applicable to EGEE users. The final solution to the code poring problem is proposed, and its performance is examined. The solution to this problem be generally faced in the other large scale computation and so is applicable to users of other HPC facilities. This chapter gives a hint to those who have difficulties in applications with heavy data Input/Output (I/O) under the computational environment whose weak point is the data I/O.

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Stiffness Based Stability Enhancement in Human-Robot Collaboration

Volume 5A: 43rd Mechanisms and Robotics Conference ◽

10.1115/detc2019-98506 ◽

2019 ◽

Author(s):

Sri Sadhan Jujjavarapu ◽

Ehsan T. Esfahani

Keyword(s):

Muscle Contraction ◽

Variable Stiffness ◽

Time Instant ◽

Human Muscle ◽

Instability Index ◽

Collaborative Task ◽

Two Measures ◽

The Time Domain ◽

Index Value ◽

Stability Enhancement

Abstract This paper presents the importance of endpoint stiffness and its role in improving the interaction stability of a human-robot collaborative task. A low effort collaborative task is simulated with the help of an admittance controlled robot. The performance of this robot for different levels of grasp stiffness are compared and a solution in the form of a Variable Stiffness Mechanism is provided. This mechanism provides an opportunity to modify the stiffness at the port of interaction based on two measures, an instability index in the frequency domain, and human muscle contraction in the time domain. Experimental results show an improvement in the performance and stability for the system with high stiffness vs low stiffness. Human muscle contraction provides a time instant at which the stiffness has to be modified and the instability index value provides information about the direction in which the stiffness has to be modified.

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Effects of a R133W β-tropomyosin mutation on regulation of muscle contraction in single human muscle fibres

The Journal of Physiology ◽

10.1113/jphysiol.2007.129759 ◽

2007 ◽

Vol 581 (3) ◽

pp. 1283-1292 ◽

Cited By ~ 37

Author(s):

Julien Ochala ◽

Mingxin Li ◽

Homa Tajsharghi ◽

Eva Kimber ◽

Mar Tulinius ◽

...

Keyword(s):

Muscle Contraction ◽

Human Muscle ◽

Muscle Fibres ◽

Regulation Of Muscle Contraction

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Digital Clay Force Observer Design and Shape Editing Concept

ASME 2009 Dynamic Systems and Control Conference, Volume 2 ◽

10.1115/dscc2009-2583 ◽

2009 ◽

Cited By ~ 1

Author(s):

Cheng Shu Ngoo ◽

Wayne J. Book

Keyword(s):

Mathematical Model ◽

Force Feedback ◽

Observer Design ◽

Finger Force ◽

Input Output ◽

Force Estimation ◽

Pressure Force ◽

Engineering Sciences ◽

Shape Editing ◽

Institute Of Technology

Digital Clay is a novel fluid-driven device for shape input/output that potentially has wide application in the areas of engineering, sciences, medicine, military, entertainment etc. Shape display is achieved with the current 5×5 prototype but this research seeks to expand its haptic capability with force feedback, but the absence of pressure/force sensors requires finger force estimation. In this paper, a velocity estimator and a mathematical model are derived for the design of a force observer. A brief overview of the current 5×5 prototype at the Georgia Institute of Technology and a new concept for shape editing are also given.

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A Computer Assisted Quantitative Description of Human Muscle Contraction Tension-Time Relationship

Computing in Medicine ◽

10.1007/978-1-349-06077-1_23 ◽

1982 ◽

pp. 155-159 ◽

Cited By ~ 4

Author(s):

K. Larsen ◽

N. H. Secher ◽

N. Rube

Keyword(s):

Muscle Contraction ◽

Quantitative Description ◽

Human Muscle ◽

Computer Assisted ◽

Time Relationship ◽

Tension Time

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Role-Play Analogy as an Approach to Learn Human Muscle Contraction

Advanced Science Letters ◽

10.1166/asl.2018.11403 ◽

2018 ◽

Vol 24 (5) ◽

pp. 3436-3440 ◽

Cited By ~ 1

Author(s):

Siti Sarah Azman ◽

Nadia Nisha Musa ◽

Marlina Mohd Mydin

Keyword(s):

Muscle Contraction ◽

Role Play ◽

Human Muscle

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Using Operational Calculus to Obtain Transient Response Estimates in Linear Uncertain Feedback Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2896443 ◽

1991 ◽

Vol 113 (3) ◽

pp. 523-525

Author(s):

Yossi Chait ◽

Neil F. Lacey ◽

C. R. MacCluer

Keyword(s):

Large Class ◽

Transient Response ◽

Operational Calculus ◽

Linear Feedback ◽

Distributed Parameter ◽

Input Output ◽

Feedback Systems ◽

Error Norm ◽

Numerical Examples ◽

Single Input

A new methodology is presented for deriving transient response estimates for a large class of uncertain linear feedback single input/output systems, including unstable distributed parameter systems. It is shown that using operational calculus, estimates exist and can be computed even in cases where a certain error norm is greater than unity. Several simple numerical examples illustrate the application of the new methodology.

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