TY - JOUR
T1 - Limit cycles to enhance human performance based on phase oscillators
AU - Sugar, Thomas
AU - Bates, Andrew
AU - Holgate, Matthew
AU - Kerestes, Jason
AU - Mignolet, Marc
AU - New, Philip
AU - Ramachandran, Ragesh K.
AU - Redkar, Sangram
AU - Wheeler, Chase
PY - 2015
Y1 - 2015
N2 - Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. This "energy pumping" at resonance can reduce the metabolic cost of performing cyclic tasks. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks where assistance is needed at a repeating rate at the correct time. By utilizing resonant energy pumping, a tiny amount of energy is added at an appropriate time that results in an amplified response. However, when the system dynamics is varying or uncertain, resonant boundaries are not clearly defined. We have developed a method to add energy at resonance so the system attains the limit cycle based on a phase oscillator. The oscillator is robust to disturbances and initial conditions and allows our robots to enhance running, reduce metabolic cost, and increase hop height. These methods are general and can be used in other areas such as energy harvesting.
AB - Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. This "energy pumping" at resonance can reduce the metabolic cost of performing cyclic tasks. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks where assistance is needed at a repeating rate at the correct time. By utilizing resonant energy pumping, a tiny amount of energy is added at an appropriate time that results in an amplified response. However, when the system dynamics is varying or uncertain, resonant boundaries are not clearly defined. We have developed a method to add energy at resonance so the system attains the limit cycle based on a phase oscillator. The oscillator is robust to disturbances and initial conditions and allows our robots to enhance running, reduce metabolic cost, and increase hop height. These methods are general and can be used in other areas such as energy harvesting.
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U2 - 10.1115/1.4029336
DO - 10.1115/1.4029336
M3 - Article
AN - SCOPUS:84940941195
SN - 1942-4302
VL - 7
JO - Journal of Mechanisms and Robotics
JF - Journal of Mechanisms and Robotics
IS - 1
M1 - 011001
ER -