Tools to Assist Teaching and Learning of Mechanisms, Robotics, and Biomechanics

2010 ◽  
Author(s):  
Robert L. Williams
Keyword(s):  
Real World ◽  
Teaching And Learning ◽  
Human Motion ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Ohio University ◽  
Internet Resources ◽  
Real World Applications ◽  
Dynamics And Control ◽  
And Control

This paper details some innovations developed at Ohio University for augmenting the teaching and learning of mechanism kinematics and dynamics, robot kinematics, dynamics, and control, and the musculoskeletal biomechanics of human motion. Common to all three courses are NotesBooks, significant MATLAB use in class, homework, and projects, term projects simulated from real-world applications, and Internet resources developed and hosted by the author at Ohio University.

scholarly journals Special Issue on Wearable Robotics: Dynamics, Control and Applications

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2011-2013
Author(s):  
Qining Wang ◽  
Nicola Vitiello ◽  
Samer Mohammed ◽  
Sunil Agrawal
Keyword(s):  
Real World ◽  
Human Motion ◽  
Robotic Systems ◽  
Loop Optimization ◽  
Human In The Loop ◽  
Wearable Robots ◽  
Real World Applications ◽  
Robot Systems ◽  
And Control ◽  
Human Robot Interfaces

While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

2019 ◽  
Author(s):  
Jiamin Wang ◽  
Oumar Barry ◽  
Andrew J. Kurdila ◽  
Sujith Vijayan
Keyword(s):  
Controller Design ◽  
Human Motion ◽  
Structural Function ◽  
Wrist Flexion ◽  
Unknown Parameters ◽  
Ulnar Deviation ◽  
Marquardt Algorithm ◽  
Flexion Extension ◽  
Dynamics And Control ◽  
And Control

Abstract This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.

Using Real World Applications as Technological Tools in Engineering Education

2014 ◽  
pp. 69-84
Author(s):  
Sidney S. H. Ho
Keyword(s):  
Mathematical Modeling ◽  
Engineering Education ◽  
Real World ◽  
Teaching And Learning ◽  
Technical Education ◽  
Building Blocks ◽  
Common Interest ◽  
Theoretical Treatment ◽  
Technological Tools ◽  
Real World Applications

“Scientia” is the investigation of something to acquire knowledge. This chapter is based on a number of engineering courses taught by the author in recent years. During the author’s delivery of lectures and tutorials, he took the opportunity to use real world applications and situations to arouse interest and enabled students to understand basic underlying principles before progressing to theoretical treatment and mathematical modeling. The abstract nature of the latter is often a hurdle in technical education. The author observes that students are most attuned to matters already in existence – things of common interest that exist in society at large and/or matters that can be found in nature. As soon as each principle is mastered, the author gradually adds more building blocks. The methodology and pace allow the confidence of his students to improve which leads to better motivation. This also provides students with the ability to look deeper into concepts and creates a virtuous environment for both teaching and learning.

Design and control of a novel all-terrains wearable vehicle

2019 ◽  
Vol 46 (6) ◽  
pp. 740-762
Author(s):  
B.M. Sayed ◽  
Mohamed Fanni ◽  
Mohamed S. Raessa ◽  
Abdelfatah Mohamed
Keyword(s):  
Experimental Tests ◽  
Human Motion ◽  
Stable Operation ◽  
Element Analysis ◽  
Efficient Manner ◽  
Content Type ◽  
Lower Limb Exoskeleton ◽  
Open Ground ◽  
Dynamics And Control ◽  
And Control

Purpose This paper aims to design and control of a novel compact transportation system called the “wearable vehicle”. The wearable vehicle allows for traversing all types of terrains while transporting one's luggage in a comfortable and efficient manner. Design/methodology/approach The proposed design consists of a lower limb exoskeleton carrying two motorized wheels and two free wheels installed alongside its feet. This paper presents a detailed description of the system with its preliminary design and finite element analysis. Moreover, the system has been optimally designed to decrease wearable vehicle’s total weight, consequently leading to a reduction in motor size. Finally, two controllers have been designed to achieve stable operation of the wearable vehicle while walking. A PD controller with gravity compensation has been designed to ensure that the wearable vehicle tracks human motion, while a PID controller has been designed to ensure that the zero moment point is close to the center of the system’s support polygon. Findings Experimental tests were carried out to check the wearable vehicle concept. The obtained results prove the feasibility of the proposed wearable vehicle from the design, dynamics and control viewpoints. Practical implications This proposed wearable vehicle’s purpose is for traveling faster with less effort than normal walking. When a human comes across a flat open ground, the wearable vehicle can be used as a vehicle. However, when a human enters crowded traffic, an unstructured area or other obstacles like stairs, the vehicle can be switched into walking mode. Originality/value The wearable vehicle has seven DOFs exoskeletons, two motorized wheels, two free wheels and a foldable seat. It is used as a vehicle via its motorized and free wheels to travel fast with minimal effort. In addition, the human can switch easily into walking mode, if there is unstructured terrain to be traversed. Furthermore, an illustration of system's mechanisms and main feature parameters are presented to become acquainted with the ultimate benefits of the new system.

scholarly journals Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints

2019 ◽  
Vol 9 (20) ◽  
pp. 4235
Author(s):  
Tingting Su ◽  
Xu Liang ◽  
Guangping He ◽  
Taoming Jia ◽  
Quanliang Zhao ◽  
...  
Keyword(s):  
Periodic Orbits ◽  
Nonholonomic Systems ◽  
Switching Control ◽  
Underactuated Mechanical Systems ◽  
Modeling And Control ◽  
Constraint Systems ◽  
Hopping Robot ◽  
Real World Applications ◽  
Dynamics And Control ◽  
And Control

Locomotion systems with variant constraints are familiar in real world applications, but the dynamics and control issues of variant constraint systems have not been sufficiently discussed to date. From the viewpoint of Lagrange–d’Alembert equations with additional variable constraints, this paper investigates the modeling approaches of a class of hybrid dynamical systems (HDS) with instantaneously variant constraints and the switching control techniques of stabilizing the HDS to given periodic orbits. It is shown that under certain conditions there possibly exist zero impact periodic orbits in the HDS, and the HDS can be stabilized to the period-one orbits by a linear controller with only partial state feedback, even though the HDS are generally underactuated nonholonomic systems. As an example, a one-legged planar hopping robot is employed to demonstrate the main results of modeling and control of a class of HDS.

Object Norms: A Class of Coordinate and Metric Independent Norms for Displacements

1992 ◽  
Author(s):  
Kazem Kazerounian ◽  
Jahangir Rastegar
Keyword(s):  
Manufacturing Systems ◽  
Kinematics And Dynamics ◽  
Coordinate Systems ◽  
New Class ◽  
Highly Sensitive ◽  
Dynamics And Control ◽  
Usual Concept ◽  
Rigid Body Displacement ◽  
And Control ◽  
Manipulation And Control

Abstract Defining a “norm” that quantifies a measure of “distance” for rigid body displacement in plane or space, is essential to many problems in kinematics, dynamics and control of mechanical and manufacturing systems. The norm is an abstraction of our usual concept of the length. The mapping between different generalized coordinate systems used in the analysis or control of systems may also be derived from this norm. All such norms currently used in different analysis are highly sensitive to 1) coordinate systems defined, and 2) metrics defined. A new class of norms is proposed to quantify the distance in the space. These norms are independent of the coordinate systems or metrics used. Its applications indesign, precision manipulation and control, computational kinematics and dynamics, assembly and part mating in manufacturing, space kinematics and dynamics, shape optimization and motion planning are explored.

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