Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis

2016 ◽  
Author(s):  
Houman Dallali ◽  
Evandro Ficanha ◽  
Mohammad Rastgaar Aagaah
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Control Design ◽  
Dynamic Decoupling ◽  
Prosthetic Foot ◽  
Bode Plots ◽  
Simulation And Control ◽  
And Control ◽  
And Inversion

The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmission, and prosthetic foot parameters. The resulting model is then verified experimentally and in simulation. Dynamic decoupling of the actuators to the ankle’s DP and IE DOF is also investigated using Bode plots. The code used for simulating the prosthesis is provided on GitHub for the community.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom

2020 ◽  
Vol 32 (3) ◽  
pp. 673-682
Author(s):  
Asaki Akagi ◽  
Satoki Tsuichihara ◽  
Shinichi Kosugi ◽  
Hiroshi Takemura ◽  
◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Physical Therapists ◽  
Plantar Flexion ◽  
Muscular Activity ◽  
Isokinetic Contraction ◽  
Peroneus Longus ◽  
Anterior Tibial ◽  
Gastrocnemius Muscles ◽  
And Control ◽  
And Inversion

While the number of people who need rehabilitation has been increasing because of the aging population, there are only a limited number of physical therapists engaged in rehabilitation, making it difficult to perform rehabilitation at a sufficient level. In this situation, various devices have been developed to replace physical therapists. However, no rehabilitation devices that can respond to the complicated degrees of freedom of an ankle joint complex (AJC) are commercially available. In the present study, we developed an AJC rehabilitation device using a Stewart platform parallel link mechanism. Using the device, we aim to measure and control the AJC with six degrees of freedom so that complicated composite motions of the AJC can be realized. To evaluate the device’s usefulness, we investigated how the composite motion generated by moving the AJC along the trajectory the device reproduced could influence a crural muscle. Muscular activities of the anterior tibial, soleus, and gastrocnemius muscles, generated by a composite motion of plantar flexion and inversion, had a similar feature to those generated by plantar flexion. However, the muscular activity of the peroneus longus muscle generated in the composite motion was significantly different from that generated only in plantar flexion. In the composite motion of plantar flexion and inversion, based on the knowledge that activity to develop only back muscles while suppressing muscular activities of the anterior tibial and peroneus longus muscles is possible. Based on the knowledge, the device was used to perform isokinetic contraction for evaluating the device’s usefulness for muscular training. We found a difference between the combination of active muscles during the composite motion and that during plantar flexion. A load can be applied to different muscles depending on the composite motion, which indicates that the device can be suitable for rehabilitation or training with high degrees of freedom.

scholarly journals Modeling and Simulation for Multi-Rotor Fixed-Wing UAV Based on Multibody Dynamics

2019 ◽  
Vol 37 (5) ◽  
pp. 928-934 ◽  
Author(s):  
Han Wu ◽  
Zhengping Wang ◽  
Zhou Zhou ◽  
Rui Wang
Keyword(s):  
Dynamic Model ◽  
Multibody Dynamics ◽  
Dynamic Modeling ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Dynamic Change ◽  
Lagrangian Multiplier ◽  
And Control ◽  
Control Surfaces ◽  
Generalized Coordinate

Accurate dynamic modeling lays foundation for design and control of UAV. The dynamic model for the multi-rotor fixed-wing UAV was looked into and it was divided into fuselage, air-body, multi-rotors, vertical fin, vertical tail and control surfaces, based on the multibody dynamics. The force and moment model for each body was established and derived into the Lagrange equation of the second king by virtual work. By electing quaternion as generalized coordinate and introducing Lagrangian multiplier, the dynamic modeling was deduced and established. Finally, the comparison between the simulation results and the experimental can be found that the present dynamic model accurately describes the process of dynamic change of this UAV and lay foundation for the control of UAV.

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