Capturability of Inverted Pendulum Gait Model Under Slip Conditions

2018 ◽  
Author(s):  
Marko Mihalec ◽  
Jingang Yi
Keyword(s):  
Reaction Time ◽  
Coefficient Of Friction ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Control Input ◽  
Vertical Movements ◽  
Foot Placement ◽  
Slip Conditions ◽  
The Coefficient Of Friction ◽  
Stable Gait

This paper presents a simple inverted pendulum gait model to study walking under slip conditions. The model allows for both the horizontal and vertical movements of the center of mass during normal walking and walking gaits with foot slip. Stability of the system is analyzed using the concept of capturability. Considering foot placement as a control input, we obtain the stable regions which lead to stable gait. The size of those stable regions is used to evaluate the effect of the coefficient of friction and the slip reaction time on capturability. We also analyze the feasibility of recovery from slip gait in relation to the coefficient of friction and the reaction time. The results confirm the effectiveness of the model and the capturability developement.

scholarly journals Rethinking Margin of Stability: Incorporating Step-To-Step Regulation to Resolve the Paradox

2021 ◽  
Author(s):  
Meghan Kazanski ◽  
Joseph P. Cusumano ◽  
Jonathan B. Dingwell
Keyword(s):  
Inverted Pendulum ◽  
Balance Control ◽  
Center Of Mass ◽  
Frontal Plane ◽  
Lateral Instability ◽  
Foot Placement ◽  
Margin Of Stability ◽  
Increased Risk ◽  
Mediolateral Stability ◽  
Balance Dynamics

ABSTRACTMaintaining frontal-plane stability is a major objective of human walking. Derived from inverted pendulum dynamics, the mediolateral Margin of Stability (MoSML) is frequently used to measure people’s frontal-plane stability on average. However, typical MoSML-based analyses deliver paradoxical interpretations of stability status. To address mediolateral stability using MoSML, we must first resolve this paradox. Here, we developed a novel framework that unifies the well-established inverted pendulum model with Goal-Equivalent Manifold (GEM)-based analyses to assess how humans regulate step-to-step balance dynamics to maintain mediolateral stability. We quantified the extent to which people corrected fluctuations in mediolateral center-of-mass state relative to a MoSML-defined candidate stability GEM in the inverted pendulum phase plane. Participants’ variability and step-to-step correction of tangent and perpendicular deviations from the candidate stability GEM demonstrate that regulation of balance dynamics involves more than simply trying to execute a constant-MoSML balance control strategy. Participants adapted these step-to-step corrections to mediolateral sensory and mechanical perturbations. How participants regulated mediolateral foot placement strongly predicted how they regulated center-of-mass state fluctuations, suggesting that regulation of center-of-mass state occurs as a biomechanical consequence of foot placement regulation. We introduce the Probability of Instability (PoI), a convenient statistic that accounts for step-to-step variance to properly predict instability likelihood on any given future step. Participants increased lateral PoI when destabilized, as expected. These lateral PoI indicated an increased risk of lateral instability, despite larger (i.e., more stable) average MoSML. PoI thereby explicitly predicts instability risk to decisively resolve the existing paradox that arises from conventional MoSML implementations.

Experimental Investigation of aluminum doping crumb rubber/epoxy composite in reciprocating motion

2015 ◽  
Vol 3 ◽  
pp. 1
Author(s):  
Goutam Chandra Karar ◽  
Nipu Modak
Keyword(s):  
Experimental Investigation ◽  
Coefficient Of Friction ◽  
Epoxy Composite ◽  
Normal Load ◽  
Crumb Rubber ◽  
The Other ◽  
Reciprocating Motion ◽  
Molding Process ◽  
Friction Tester ◽  
The Coefficient Of Friction

The experimental investigation of reciprocating motion between the aluminum doped crumb rubber /epoxy composite and the steel ball has been carried out under Reciprocating Friction Tester, TR-282 to study the wear and coefficient of frictions using different normal loads (0.4Kg, 0.7Kgand1Kg), differentfrequencies (10Hz, 25Hz and 40Hz).The wear is a function of normal load, reciprocating frequency, reciprocating duration and the composition of the material. The percentage of aluminum presents in the composite changesbut the other components remain the same.The four types of composites are fabricated by compression molding process having 0%, 10%, 20% and 30% Al. The effect of different parameters such as normal load, reciprocating frequency and percentage of aluminum has been studied. It is observed that the wear and coefficient of friction is influenced by the parameters. The tendency of wear goes on decreasing with the increase of normal load and it is minimum for a composite having 10%aluminum at a normal load of 0.7Kg and then goes on increasing at higher loads for all types of composite due to the adhesive nature of the composite. The coefficient of friction goes on decreasing with increasing normal loads due to the formation of thin film as an effect of heat generation with normal load.

scholarly journals Tribological Aspects, Optimization and Analysis of Cu-B-CrC Composites Fabricated by Powder Metallurgy

Materials ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4217
Author(s):  
Üsame Ali Usca ◽  
Mahir Uzun ◽  
Mustafa Kuntoğlu ◽  
Serhat Şap ◽  
Khaled Giasin ◽  
...  
Keyword(s):  
Weight Loss ◽  
Wear Rate ◽  
Coefficient Of Friction ◽  
Applied Load ◽  
Practical Significance ◽  
Tribological Characteristics ◽  
M 10 ◽  
Wide Range ◽  
The Coefficient Of Friction ◽  
Four Levels

Tribological properties of engineering components are a key issue due to their effect on the operational performance factors such as wear, surface characteristics, service life and in situ behavior. Thus, for better component quality, process parameters have major importance, especially for metal matrix composites (MMCs), which are a special class of materials used in a wide range of engineering applications including but not limited to structural, automotive and aeronautics. This paper deals with the tribological behavior of Cu-B-CrC composites (Cu-main matrix, B-CrC-reinforcement by 0, 2.5, 5 and 7.5 wt.%). The tribological characteristics investigated in this study are the coefficient of friction, wear rate and weight loss. For this purpose, four levels of sliding distance (1000, 1500, 2000 and 2500 m) and four levels of applied load (10, 15, 20 and 25 N) were used. In addition, two levels of sliding velocity (1 and 1.5 m/s), two levels of sintering time (1 and 2 h) and two sintering temperatures (1000 and 1050 °C) were used. Taguchi’s L16 orthogonal array was used to statistically analyze the aforementioned input parameters and to determine their best levels which give the desired values for the analyzed tribological characteristics. The results were analyzed by statistical analysis, optimization and 3D surface plots. Accordingly, it was determined that the most effective factor for wear rate, weight loss and friction coefficients is the contribution rate. According to signal-to-noise ratios, optimum solutions can be sorted as: the highest levels of parameters except for applied load and reinforcement ratio (2500 m, 10 N, 1.5 m/s, 2 h, 1050 °C and 0 wt.%) for wear rate, certain levels of all parameters (1000 m, 10 N, 1.5 m/s, 2 h, 1050 °C and 2.5 wt.%) for weight loss and 1000 m, 15 N, 1 m/s, 1 h, 1000 °C and 0 wt.% for the coefficient of friction. The comprehensive analysis of findings has practical significance and provides valuable information for a composite material from the production phase to the actual working conditions.

scholarly journals Influence of Beam Power on Young’s Modulus and Friction Coefficient of Ti–Ta Alloys Formed by Electron-Beam Surface Alloying

Metals ◽  
2021 ◽  
Vol 11 (8) ◽  
pp. 1246
Author(s):  
Stefan Valkov ◽  
Dimitar Dechev ◽  
Nikolay Ivanov ◽  
Ruslan Bezdushnyi ◽  
Maria Ormanova ◽  
...  
Keyword(s):  
Electron Beam ◽  
Young’S Modulus ◽  
Coefficient Of Friction ◽  
Young's Modulus ◽  
Beam Power ◽  
Surface Alloying ◽  
Surface Alloys ◽  
X Ray ◽  
The Coefficient Of Friction ◽  
Beam Surface

In this study, we present the results of Young’s modulus and coefficient of friction (COF) of Ti–Ta surface alloys formed by electron-beam surface alloying by a scanning electron beam. Ta films were deposited on the top of Ti substrates, and the specimens were then electron-beam surface alloyed, where the beam power was varied from 750 to 1750 W. The structure of the samples was characterized by scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDX), and X-ray diffraction (XRD). Young’s modulus was studied by a nanoindentation test. The coefficient of friction was studied by a micromechanical wear experiment. It was found that at 750 W, the Ta film remained undissolved on the top of the Ti, and no alloyed zone was observed. By an increase in the beam power to 1250 and 1750 W, a distinguished alloyed zone is formed, where it is much thicker in the case of 1750 W. The structure of the obtained surface alloys is in the form of double-phase α’and β. In both surface alloys formed by a beam power of 1250 and 1750 W, respectively, Young’s modulus decreases about two times due to different reasons: in the case of alloying by 1250 W, the observed drop is attributed to the larger amount of the β phase, while at 1750 W is it due to the weaker binding forces between the atoms. The results obtained for the COF show that the formation of the Ti–Ta surface alloy on the top of Ti substrate leads to a decrease in the coefficient of friction, where the effect is more pronounced in the case of the formation of Ti–Ta surface alloys by a beam power of 1250 W.

Reducing the Coefficient of Friction for Fast-Absorbing Gut Suture

2009 ◽  
Vol 35 (12) ◽  
pp. 2004 ◽  
Author(s):  
Jonathan Lee Bingham ◽  
Mariah R. Brown ◽  
Julian Ramsey Mellette
Keyword(s):  
Coefficient Of Friction ◽  
The Coefficient Of Friction

First Paper: Effect of Under-Lip Temperature on the Lubrication of Rotary Shaft Garter Spring Seals

1966 ◽  
Vol 181 (1) ◽  
pp. 185-190 ◽  
Author(s):  
D. J. Lines ◽  
J. M. Lawrie ◽  
J. P. O'Donoghue
Keyword(s):  
Coefficient Of Friction ◽  
Operating Temperature ◽  
Lubrication Theory ◽  
Fluid Film ◽  
Hydrodynamic Parameter ◽  
Accurate Knowledge ◽  
The Coefficient Of Friction ◽  
Surface Thermocouple ◽  
Sealing Mechanism ◽  
Film Lubrication

Although rotary shaft garter spring seals are widely used throughout industry, very little is known about the sealing mechanism of the lip-shaft interface. It is now generally accepted that some sort of fluid film separates the lip and the shaft. Previous workers have also postulated a relationship between the coefficient of friction and a non-dimensional hydrodynamic parameter, as in standard lubrication theory. This present paper clarifies this relationship, and shows that seals can also operate over the mixed friction, as well as the full film lubrication region. The results were obtained by accurate knowledge of the operating temperature under the sealing lip. Two types of surface thermocouple were developed to do this and these are described in full.

The Effect of Nanoparticle Functionalization on Lubrication Performance of Nanofluids Dispersing Silica Nanoparticles in an Ionic Liquid

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Cengiz Yegin ◽  
Wei Lu ◽  
Bassem Kheireddin ◽  
Ming Zhang ◽  
Peng Li ◽  
...  
Keyword(s):  
Silica Nanoparticles ◽  
Coefficient Of Friction ◽  
Shear Thinning ◽  
Antiwear Additives ◽  
Functionalized Silica ◽  
Low Concentrations ◽  
Lubrication Performance ◽  
The Coefficient Of Friction ◽  
High Concentrations ◽  
Newtonian Behavior

Recently, ionic liquids (ILs) have received an increasing attention as lubricants owing to their intriguing properties such as tunable viscosity, high thermal stability, low emissions, nonflammability, and corrosion resistance. In this work, we investigate how the incorporation of octadecyltrichlorosilane (OTS) functionalized silica nanoparticles (NPs) in 1-butyl-3-methylimidazolium (trifluoromethysulfony)imide influences the tribological properties and rheological properties of IL under boundary lubrication and elastohydrodynamic conditions, respectively. It was found that the coefficient of friction was depended on the concentration of NPs in IL with a concave upward functional trend with a minimum at 0.05 wt.% for bare silica NPs and at 0.10 wt.% for OTS-functionalized silica NPs. For steel–steel sliding contact, the presence of functionalized NPs in IL at the optimum concentration decreased the coefficient of friction by 37% compared to IL and 17% compared to IL with bare silica NPs. While IL with bare NPs demonstrated a shear thinning behavior for all concentrations, IL with functionalized NPs showed a Newtonian behavior at low concentrations and shear thinning behavior at high concentrations. Overall, this study provides new insights into the antifriction and antiwear additives for lubrication systems involving ILs.

Paper 16: Friction in Wet Clutches

1967 ◽  
Vol 182 (14) ◽  
pp. 132-138 ◽  
Author(s):  
E. M. Evans ◽  
J. Whittle
Keyword(s):  
Coefficient Of Friction ◽  
Power Transmission ◽  
Sliding Speed ◽  
Friction Materials ◽  
Friction Characteristics ◽  
Sliding Surfaces ◽  
Base Oils ◽  
Wet Friction ◽  
Friction Clutch ◽  
The Coefficient Of Friction

This paper is intended to demonstrate that designers of wet clutches for power transmission can obtain the optimum friction characteristics for specific applications by considering the interaction between friction materials and lubricants. A friction clutch plate rig is described and the friction results obtained are presented. It is shown that a wide variation of coefficients of friction and frictional characteristics in wet friction clutches can be obtained by changing the oils and friction materials. In particular the coefficient of friction is dependent upon (1) the oil, (2) the materials of the sliding surfaces, (3) sliding speed, and (4) temperature. It is also shown that the coefficient of friction is affected by ( a) refining treatment given to the oil, ( b) different base oils, and ( c) additives.

Sign in / Sign up

Export Citation Format

Share Document