Toward the Development of Knee Prostheses: Review of Current Active Devices

2019 ◽  
Vol 71 (3) ◽  
Author(s):  
Rafael R. Torrealba ◽  
Edgar D. Fonseca-Rojas
Keyword(s):  
Clinical Assessment ◽  
Control Strategy ◽  
Selection Criteria ◽  
Performance Metrics ◽  
Mechanical Design ◽  
Knee Prostheses ◽  
Active Devices ◽  
Scientific Papers ◽  
Transfemoral Amputees ◽  
And Control

This paper presents a thorough review of the initiatives carried out in the last 10 years toward the development of active knee prostheses (AKP) for transfemoral amputees. Three selection criteria were employed to filter the works to be considered in the review: (1) a prototype of the prosthesis is available; (2) the mechanical design, instrumentation, and control strategy of such a prototype have been presented in a scientific disclosure media; and (3) the prototype has been subjected to clinical assessment at least in a preliminary way. After applying such criteria, 16 projects were selected and further reviewed through a total of 31 scientific papers, considering the following six aspects: (1) actuators, (2) instrumentation, (3) control, (4) testing trials, (5) performance metrics, and (6) limitations. Then, in addition, the chronological appearance of the aforesaid papers is also shown and quantified regarding each of the previously mentioned issues, to initiate discussion on the related topics. Thus, the present review results in a specialized summary of all these developments in a structured format, offering additional understanding of the recent advances achieved in this field.

scholarly journals A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 441
Author(s):  
Daniel Feliu-Talegon ◽  
Andres San-Millan ◽  
Vicente Feliu-Batlle
Keyword(s):  
Control Strategy ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
The Real ◽  
And Control ◽  
Mobile Base

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.

scholarly journals Design and Control of a New Biomimetic Transfemoral Knee Prosthesis Using an Echo-Control Scheme

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Mario G. Bernal-Torres ◽  
Hugo I. Medellín-Castillo ◽  
Juan C. Arellano-González
Keyword(s):  
Control Strategy ◽  
Knee Prosthesis ◽  
The Body ◽  
Metabolic Energy ◽  
Knee Prostheses ◽  
Human Knee ◽  
Knee Movement ◽  
Control Scheme ◽  
Sound Side ◽  
And Control

Passive knee prostheses require a significant amount of additional metabolic energy to carry out a gait cycle, therefore affecting the natural human walk performance. Current active knee prostheses are still limited because they do not reply with accuracy of the natural human knee movement, and the time response is relatively large. This paper presents the design and control of a new biomimetic-controlled transfemoral knee prosthesis based on a polycentric-type mechanism. The aim was to develop a knee prosthesis able to provide additional power and to mimic with accuracy of the natural human knee movement using a stable control strategy. The design of the knee mechanism was obtained from the body-guidance kinematics synthesis based on real human walking patterns obtained from computer vision and 3D reconstruction. A biomechanical evaluation of the synthesized prosthesis was then carried out. For the activation and control of the prosthesis, an echo-control strategy was proposed and developed. In this echo-control strategy, the sound side leg is sensed and synchronized with the activation of the knee prosthesis. An experimental prototype was built and evaluated in a test rig. The results revealed that the prosthetic knee is able to mimic the biomechanics of the human knee.

scholarly journals Mechanical Design and Control Strategy for Hip Joint Power Assisting

2018 ◽  
Vol 2018 ◽  
pp. 1-7
Author(s):  
Wenyuan Liang
Keyword(s):  
Control Strategy ◽  
Mechanical Design ◽  
Sensory System ◽  
Interaction Model ◽  
Human Movement ◽  
Joint Movement ◽  
Joint Power ◽  
And Control ◽  
Movement Intention ◽  
Human Joint

The basic requirements for mechanical design and control strategy are adapting to human joint movements and building an interaction model between human and robot. In this paper, a 3-UPS parallel mechanism is adopted to realize that the instantaneous rotation center of the assistive system coincides with human joint movement center, and a force sensory system is used to detect human movement intention and build the modeling of control strategy based on the interactive force. Then, based on the constructed experimental platform, the feasibility of movement intention detection and power assisting are verified through the experimental results.

Dry chip feedrate control using online chip moisture

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason
Keyword(s):  
Production Rate ◽  
Control Strategy ◽  
Rate Control ◽  
Near Infrared ◽  
Dry Mass ◽  
The Other ◽  
Process Variability ◽  
Moisture Sensor ◽  
Feedback Control Strategy ◽  
And Control

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.

A power management and control strategy with grid-ancillary services for a microgrid based on DC Bus

2014 ◽  
Vol 9 (4) ◽  
pp. 792 ◽  
Author(s):  
Anna Pinnarelli ◽  
Giuseppe Barone ◽  
Giovanni Brusco ◽  
Alessandro Burgio ◽  
Daniele Menniti ◽  
...  
Keyword(s):  
Power Management ◽  
Control Strategy ◽  
Ancillary Services ◽  
Dc Bus ◽  
And Control

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

scholarly journals Quantitative Correlation and Control Strategy for Element Content Fluctuation along Casting Direction in Central Area of Continuous Casting Billet

Metals ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 452
Author(s):  
Dongwei Guo ◽  
Zibing Hou ◽  
Zhiqiang Peng ◽  
Qian Liu ◽  
Jianghai Cao
Keyword(s):  
Control Strategy ◽  
Central Area ◽  
Solidification Structure ◽  
Equiaxed Crystal ◽  
Correlation Relationship ◽  
Zone Formation ◽  
Zone Width ◽  
Quantitative Correlation ◽  
Central Segregation ◽  
And Control

The statistical correlation was applied to analyze the specific and quantitative correlation relationship between the solidification structure and central segregation along the casting direction in carbon steel billet. On this basis, the segregation formation mechanism of the solute element and related control strategy were investigated. It is found that the equiaxed crystal zone fluctuation along the casting direction determines the fluctuation degree of central segregation. At the same time, the central segregation at a certain position is mostly affected by the equiaxed crystal zone width at the hysteretic position. Moreover, the casting speed can influence the columnar to equiaxed transition (CET) fluctuation along the casting direction by affecting the flow of molten steel in the billet. Overall, the segregation mechanism of solute elements along the casting direction can be summarized into two aspects: First, with the growth of columnar crystals in the initial stage, the segregated solutes are continuously enriched and distributed in the equiaxed crystal zone after CET. The fluctuation of the equiaxed crystal zone will affect the distribution of the enriched solute in the billet and cause the fluctuation of the central segregation. Second, due to the solidification shrinkage at the end of solidification, the solute-enriched liquid phase at the hysteretic position is pumped to the solidification endpoint and forms the central V-shaped segregation. Meanwhile, the stable solidification structure (columnar crystal length or equiaxed crystal zone width) along the casting direction and control measures preceded equiaxed crystal zone formation are beneficial to reduce the central V-shaped segregation.

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