Joint Impact Forces of a Biped Walking on an Uneven Ground

Author(s):  
Marzieh Mojaddarasil ◽  
Mohammad Jafar Sadigh

This paper looks into the impact forces applied to the joints of a biped walking on an uneven surface. In this vein, impact dynamics of the swing leg are studied by considering a simple two-link planar manipulator model which comes in contact with the ground. The effect of different parameters and factors on the magnitude of the joint impact forces is investigated. Specifically, it is observed how the elasticity of the shoe, the leg configuration, and the muscular flexibility of the joints affect the joint impact forces. The obtained results can be of practical importance in developing bipedal robots and in the diagnosis and treatment of human gait issues related to joint problems.

The theory of the vibrations of the pianoforte string put forward by Kaufmann in a well-known paper has figured prominently in recent discussions on the acoustics of this instrument. It proceeds on lines radically different from those adopted by Helmholtz in his classical treatment of the subject. While recognising that the elasticity of the pianoforte hammer is not a negligible factor, Kaufmann set out to simplify the mathematical analysis by ignoring its effect altogether, and treating the hammer as a particle possessing only inertia without spring. The motion of the string following the impact of the hammer is found from the initial conditions and from the functional solutions of the equation of wave-propagation on the string. On this basis he gave a rigorous treatment of two cases: (1) a particle impinging on a stretched string of infinite length, and (2) a particle impinging on the centre of a finite string, neither of which cases is of much interest from an acoustical point of view. The case of practical importance treated by him is that in which a particle impinges on the string near one end. For this case, he gave only an approximate theory from which the duration of contact, the motion of the point struck, and the form of the vibration-curves for various points of the string could be found. There can be no doubt of the importance of Kaufmann’s work, and it naturally becomes necessary to extend and revise his theory in various directions. In several respects, the theory awaits fuller development, especially as regards the harmonic analysis of the modes of vibration set up by impact, and the detailed discussion of the influence of the elasticity of the hammer and of varying velocities of impact. Apart from these points, the question arises whether the approximate method used by Kaufmann is sufficiently accurate for practical purposes, and whether it may be regarded as applicable when, as in the pianoforte, the point struck is distant one-eighth or one-ninth of the length of the string from one end. Kaufmann’s treatment is practically based on the assumption that the part of the string between the end and the point struck remains straight as long as the hammer and string remain in contact. Primâ facie , it is clear that this assumption would introduce error when the part of the string under reference is an appreciable fraction of the whole. For the effect of the impact would obviously be to excite the vibrations of this portion of the string, which continue so long as the hammer is in contact, and would also influence the mode of vibration of the string as a whole when the hammer loses contact. A mathematical theory which is not subject to this error, and which is applicable for any position of the striking point, thus seems called for.


2021 ◽  
Vol 11 (9) ◽  
pp. 4136
Author(s):  
Rosario Pecora

Oleo-pneumatic landing gear is a complex mechanical system conceived to efficiently absorb and dissipate an aircraft’s kinetic energy at touchdown, thus reducing the impact load and acceleration transmitted to the airframe. Due to its significant influence on ground loads, this system is generally designed in parallel with the main structural components of the aircraft, such as the fuselage and wings. Robust numerical models for simulating landing gear impact dynamics are essential from the preliminary design stage in order to properly assess aircraft configuration and structural arrangements. Finite element (FE) analysis is a viable solution for supporting the design. However, regarding the oleo-pneumatic struts, FE-based simulation may become unpractical, since detailed models are required to obtain reliable results. Moreover, FE models could not be very versatile for accommodating the many design updates that usually occur at the beginning of the landing gear project or during the layout optimization process. In this work, a numerical method for simulating oleo-pneumatic landing gear drop dynamics is presented. To effectively support both the preliminary and advanced design of landing gear units, the proposed simulation approach rationally balances the level of sophistication of the adopted model with the need for accurate results. Although based on a formulation assuming only four state variables for the description of landing gear dynamics, the approach successfully accounts for all the relevant forces that arise during the drop and their influence on landing gear motion. A set of intercommunicating routines was implemented in MATLAB® environment to integrate the dynamic impact equations, starting from user-defined initial conditions and general parameters related to the geometric and structural configuration of the landing gear. The tool was then used to simulate a drop test of a reference landing gear, and the obtained results were successfully validated against available experimental data.


2021 ◽  
Vol 128 (1) ◽  
Author(s):  
Michael J. Negus ◽  
Matthew R. Moore ◽  
James M. Oliver ◽  
Radu Cimpeanu

AbstractThe high-speed impact of a droplet onto a flexible substrate is a highly non-linear process of practical importance, which poses formidable modelling challenges in the context of fluid–structure interaction. We present two approaches aimed at investigating the canonical system of a droplet impacting onto a rigid plate supported by a spring and a dashpot: matched asymptotic expansions and direct numerical simulation (DNS). In the former, we derive a generalisation of inviscid Wagner theory to approximate the flow behaviour during the early stages of the impact. In the latter, we perform detailed DNS designed to validate the analytical framework, as well as provide insight into later times beyond the reach of the proposed analytical model. Drawing from both methods, we observe the strong influence that the mass of the plate, resistance of the dashpot, and stiffness of the spring have on the motion of the solid, which undergo forced damped oscillations. Furthermore, we examine how the plate motion affects the dynamics of the droplet, predominantly through altering its internal hydrodynamic pressure distribution. We build on the interplay between these techniques, demonstrating that a hybrid approach leads to improved model and computational development, as well as result interpretation, across multiple length and time scales.


2020 ◽  
Vol 4 (1) ◽  
pp. 50-58
Author(s):  
Matthias  Tietsch ◽  
Amir Muaremi ◽  
Ieuan Clay ◽  
Felix Kluge ◽  
Holger Hoefling ◽  
...  

Analyzing human gait with inertial sensors provides valuable insights into a wide range of health impairments, including many musculoskeletal and neurological diseases. A representative and reliable assessment of gait requires continuous monitoring over long periods and ideally takes place in the subjects’ habitual environment (real-world). An inconsistent sensor wearing position can affect gait characterization and influence clinical study results, thus clinical study protocols are typically highly proscriptive, instructing all participants to wear the sensor in a uniform manner. This restrictive approach improves data quality but reduces overall adherence. In this work, we analyze the impact of altering the sensor wearing position around the waist on sensor signal and step detection. We demonstrate that an asymmetrically worn sensor leads to additional odd-harmonic frequency components in the frequency spectrum. We propose a robust solution for step detection based on autocorrelation to overcome sensor position variation (sensitivity = 0.99, precision = 0.99). The proposed solution reduces the impact of inconsistent sensor positioning on gait characterization in clinical studies, thus providing more flexibility to protocol implementation and more freedom to participants to wear the sensor in the position most comfortable to them. This work is a first step towards truly position-agnostic gait assessment in clinical settings.


2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Helena Mouriño ◽  
Maria Isabel Barão

Missing-data problems are extremely common in practice. To achieve reliable inferential results, we need to take into account this feature of the data. Suppose that the univariate data set under analysis has missing observations. This paper examines the impact of selecting an auxiliary complete data set—whose underlying stochastic process is to some extent interdependent with the former—to improve the efficiency of the estimators for the relevant parameters of the model. The Vector AutoRegressive (VAR) Model has revealed to be an extremely useful tool in capturing the dynamics of bivariate time series. We propose maximum likelihood estimators for the parameters of the VAR(1) Model based on monotone missing data pattern. Estimators’ precision is also derived. Afterwards, we compare the bivariate modelling scheme with its univariate counterpart. More precisely, the univariate data set with missing observations will be modelled by an AutoRegressive Moving Average (ARMA(2,1)) Model. We will also analyse the behaviour of the AutoRegressive Model of order one, AR(1), due to its practical importance. We focus on the mean value of the main stochastic process. By simulation studies, we conclude that the estimator based on the VAR(1) Model is preferable to those derived from the univariate context.


1996 ◽  
Author(s):  
Helcio Onusic ◽  
José Augusto P. Campos ◽  
Paulo Sergio P. dos Santos

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Qingzhe Liu ◽  
Jack Hau Yung Lo ◽  
Ye Li ◽  
Yuan Liu ◽  
Jinyu Zhao ◽  
...  

AbstractThe impact and splash of liquid drops on solid substrates are ubiquitous in many important fields. However, previous studies have mainly focused on spherical drops while the non-spherical situations, such as raindrops, charged drops, oscillating drops, and drops affected by electromagnetic field, remain largely unexplored. Using ferrofluid, we realize various drop shapes and illustrate the fundamental role of shape in impact and splash. Experiments show that different drop shapes produce large variations in spreading dynamics, splash onset, and splash amount. However, underlying all these variations we discover universal mechanisms across various drop shapes: the impact dynamics is governed by the superellipse model, the splash onset is triggered by the Kelvin-Helmholtz instability, and the amount of splash is determined by the energy dissipation before liquid taking off. Our study generalizes the drop impact research beyond the spherical geometry, and reveals the potential of using drop shape to control impact and splash.


Author(s):  
Hervé Vicari ◽  
C.W.W. Ng ◽  
Steinar Nordal ◽  
Vikas Thakur ◽  
W.A. Roanga K. De Silva ◽  
...  

The destructive nature of debris flows is mainly caused by flow bulking from entrainment of an erodible channel bed. To arrest these flows, multiple flexible barriers are commonly installed along the predicted flow path. Despite the importance of an erodible bed, its effects are generally ignored when designing barriers. In this study, three unique experiments were carried out in a 28 m-long flume to investigate the impact of a debris flow on both single and dual flexible barriers installed in a channel with a 6 m-long erodible soil bed. Initial debris volumes of 2.5 m<sup>3</sup> and 6 m<sup>3</sup> were modelled. For the test setting adopted, a small upstream flexible barrier before the erodible bed separates the flow into several surges via overflow. The smaller surges reduce bed entrainment by 70% and impact force on the terminal barrier by 94% compared to the case without an upstream flexible barrier. However, debris overflowing the deformed flexible upstream barrier induces a centrifugal force that results in a dynamic pressure coefficient that is up to 2.2 times higher than those recommended in guidelines. This suggests that although compact upstream flexible barriers can be effective for controlling bed entrainment, they should be carefully designed to withstand higher impact forces.


Author(s):  
Abhishek Chatterjee ◽  
Alan Bowling

This work presents a new approach for resolving the unique invariant slip direction at Stick-Slip Transition during impact. The solution method presented in this work is applicable to both single-point and multi-point impact problems. The proposed method utilizes rigid body constraints to resolve the impact forces at all collision points in terms of a single independent impact forces parameter. This work also uses an energetic coefficient of restitution to terminate impact events, thereby yielding energetically consistent post-impact behavior.


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