Brake by wire control with pedal feedback and brake boost

"By wire" technology merged into multiple vehicular subsystems, including gear changing, drive, and braking systems. The brake by wire system is developed to overcome the problems associated with the integration of mechanical and hydraulic systems in novel vehicular systems. Even though brake by wire systems has potential advantages, the conventional brake systems' tactile sensation will be removed if migrated to the electrical by wire control scheme. This paper proposes a novel control mechanism that provides amplification of force, scaling of position replication, and a virtual spring-damper based pedal retraction which provides bilateral brake force feedback to the driver's pedal similar to the hydraulic brake system. The proposed system performance was simulated and tested using a bilateral teleoperation system with disturbance observers (DOB) and reaction force observers (RFOB). The proposed system provides pedal force amplification and brake force feedback to the driver's pedal using RFOBs. The virtual spring retracts the brake pedal, similar to a mechanical pedal retraction system. The system simulation and experimental results provide evidence of the proposed system's force amplification, position scaling, and pedal reaction capabilities.

Upper Limb Motor Planning in Individuals with Cerebral Palsy Aged between 3 and 21 Years Old: A Systematic Review

Individuals with cerebral palsy have difficulties performing activities of daily living. Beyond motor execution impairments, they exhibit motor planning deficits contributing to their difficulties. The objective of this review is to synthesize the behavioral evidence of motor planning deficits during an upper limb motor task in children, adolescents and young adults with cerebral palsy aged between 3 and 21 years. Methods: The inclusion criteria were: (1) including individuals with cerebral palsy from 3 to 21 years old; (2) assessing upper limb motor planning. Six databases were screened. The quality assessment of the studies was performed. Results: Forty-six studies and 686 participants were included. Five articles have been identified as very high quality, 12 as high, 20 as moderate, six as low, three as very low. Force planning studies reported a deficit for the more affected hand but adequate performances for the less affected hand. Object-manipulation studies reported hand posture planning deficits irrespectively of the hand assessed. Conclusions: Motor planning deficits has been shown in the more affected hand for force scaling, while the results for other variables showed overall deficits. Hence, variables affected by motor planning deficits in both hands should be considered in children with cerebral palsy to optimize intervention.

The role of the anterior intraparietal sulcus and the lateral occipital cortex in fingertip force scaling and weight perception during object lifting

This article provides new insights into the neural mechanisms underlying object lifting and perception. Using transcranial magnetic stimulation during object lifting, we show that effects of previous experience on force scaling and weight perception are not mediated by the anterior intraparietal sulcus or the lateral occipital cortex (LO). In contrast, we highlight a unique role for LO in load force scaling, suggesting different brain processes for grip and load force scaling in object manipulation.

Pinning Force Scaling Analysis of Polycrystalline MgB2

Flux pinning force scaling $f=F_{p}/F_{p,\max \limits }$ f = F p / F p , max vs. h = Ha/Hirr was performed on a variety of pure MgB2 samples, including a spark plasma sintered (SPS) one and a series of samples sintered at various reaction temperatures ranging between 775 and 950 ∘C. The SPS sample exhibits a well-developed scaling at all temperatures, and also the sintered samples prepared at 950 ∘C; however, the obtained peak positions of the pinning force scalings are distinctly different: The SPS sample reveals dominating pinning at grain boundaries, whereas the dominating pinning for the other one is point-pinning. All other samples studied reveal an apparent non-scaling of the pinning forces. The obtained pinning parameters are discussed in the framework of the Dew–Hughes’ pinning force scaling approach.

Effects of TMS over the anterior intraparietal area on anticipatory fingertip force scaling and the size-weight illusion

ABSTRACTIn skilled object lifting, fingertip forces need to be carefully scaled to object weight, which can be inferred from object properties, such as size or material. This anticipatory force scaling ensures smooth and efficient lifting movements. However, even with accurate motor plans, weight perception can still be biased. In the size-weight illusion, objects of different size but equal weight are perceived to differ in heaviness, with the small object perceived to be heavier than the large object. The neural underpinnings of the size-weight illusion and anticipatory force scaling to object size are largely unknown. In this study, we hypothesized a possible role of the anterior intraparietal cortex (aIPS) in predictive force scaling and the size-weight illusion, which we investigated by applying continuous theta burst stimulation (cTBS) prior to participants lifting objects designed to induce the size-weight illusion. Participants received cTBS over aIPS, the primary motor cortex (control area), or sham stimulation. We found no evidence that aIPS stimulation affected the size-weight illusion. Small effects were, however, found on anticipatory force scaling, where grip force was less tuned to object size during initial lifts. These findings suggest that, while aIPS might be peripherally involved in sensorimotor prediction, other brain areas underpin the processes that mediate the size-weight illusion.

An Admittance-controlled Force-scaling Dexterous Assistive Robotic System

Play has a vital role in a child’s development; it can affect everything from social and language to cognitive and perceptual skills. However, if a child has a physical disability, the fundamental limitations of their disability may prevent them from participating in all forms of play. Construction and block play is an example of play that may be difficult for children who have reduced upper body strength and are, therefore, unable to manipulate heavier objects in space. In this paper, we propose a novel 6 degree-of-freedom admittance-controlled, force-scaling robot that will allow for children to lift heavier objects than they would normally be able to, while still retaining the full range of motion of their upper body. This assistive system is designed to retain the user’s haptic perception, allowing the user to still partially feel the weight of the objects that they are manipulating. Two user studies are done to evaluate the usability of the system. First, to ensure that the force scaling of the system does not negatively affect a user’s haptic perception, 10 able-bodied individuals were asked to order a series of buckets with identical appearances but different masses from lightest to heaviest with three different force-scaling factors. It was shown that the force amplification ability of the system does not significantly detract from users’ ability to discriminate masses. Second, to evaluate the precision and the usefulness of the force scaling of the system, users were asked to perform a challenging peg-in-hole insertion task. Results indicate that the system has a positive effect on the ability of a user to perform the task when the assistance is necessary. However, increasing amounts of assistance, past those required for participants to complete the task without issues, do not have any significant effect. The effect of a modular reacher bar that can augment the workspace of users is investigated through a similar peg-in-hole insertion task. For the trials with the modular reacher bar attached, it is shown that the system’s force amplification has a very positive effect in assisting users in completing the task. It should be noted that although the target population for this paper is children with disabilities, there can also be uses for this system as a general assistive technology for adults with upper-body weakness in their daily lives.

Vertical force scaling in seismic source models of underground nuclear explosions

SUMMARY We have reanalysed observations of body waves and surface waves for 71 well-recorded underground nuclear explosions (UNEs) that were conducted between 1977 and 1989 at the Balapan subregion of the Semipalatinsk Test Site in Kazakhstan. To reconcile differences between body-wave and surface-wave amplitudes, we solve for a scaling factor between vertical and horizontal forces in the explosion model. We find that the estimated scaling factor is anticorrelated with the scaled depth of burial for the subset of UNEs at Balapan that have published depths. The observed anticorrelation and the inferred variations in force scaling suggest that recorded surface-wave amplitudes are significantly influenced by UNE burial depth as well as by previously recognized tectonic release. As part of our analysis, we revisit the relationship between teleseismic mb(P) and yield for UNEs at Balapan, and discuss the physical basis for effectiveness of the mb–MS discriminant.

The role of the anterior intraparietal sulcus and the lateral occipital cortex in fingertip force scaling and weight perception during object lifting

ABSTRACTSkillful object lifting relies on scaling fingertip forces according to the object’s weight. When no visual cues about weight are available, force planning relies on recent lifting experience. Recently, we showed that previously lifted objects also affect weight estimation, as objects are perceived to be lighter when lifted after heavy objects compared to light ones. Here, we investigated the underlying neural mechanisms mediating these effects. We asked participants to lift objects and estimate their weight. Simultaneously, we applied transcranial magnetic stimulation (TMS) during the dynamic loading or static holding phase. Two subject groups received TMS of either the anterior intraparietal sulcus (aIPS) or lateral occipital area (LO), known to be important nodes in object grasping and perception. We hypothesized that TMS-induced disruption of aIPS and LO would alter force scaling and weight perception. Contrary to our hypothesis, we did not find effects of aIPS or LO stimulation on force planning or weight estimation caused by previous lifting experience. However, we found that TMS of both areas increased grip forces, but only when applied during dynamic loading, and decreased weight estimation, but only when applied during static holding, suggesting time-specific effects. Interestingly, our results also indicate that TMS over LO, but not aIPS, affected load force scaling specifically for heavy objects, which further indicates that planning of load and grip forces might be controlled differently. These findings provide new insights on the interactions between brain networks mediating action and perception during object manipulation.NEW & NOTEWORTHYThis article provides new insights into the neural mechanisms underlying object lifting and perception. Using transcranial magnetic stimulation during object lifting, we show that effects of previous experience on force scaling and weight perception are not mediated by the anterior intraparietal sulcus nor the lateral occipital cortex (LO). In contrast, we highlight a unique role for LO in load force scaling, suggesting different brain processes for grip and load force scaling in object manipulation.