Nonlinear phase-based oscillator to generate and assist periodic motions

Juan De La Fuente; Thomas Sugar; Sangram Redkar; Andrew R. Bates

doi:10.1115/DETC2016-59230

Nonlinear phase-based oscillator to generate and assist periodic motions

Juan De La Fuente, Thomas Sugar, Sangram Redkar, Andrew R. Bates

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Oscillatory behavior is important for tasks such as walking and running. We are developing methods to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. The stability of the system is proved using the Poincaré-Bendixson criterion. Linear and rotational mechanical systems are simulated using our phase controller. The method is implemented and tested to control a pendulum. Lastly, we propose how to assist hip motion during walking using the phase-based forcing function.

Original language	English (US)
Title of host publication	40th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
Volume	5B-2016
ISBN (Electronic)	9780791850169
DOIs	https://doi.org/10.1115/DETC2016-59230
State	Published - 2016
Event	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States Duration: Aug 21 2016 → Aug 24 2016

Other

Other	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Country	United States
City	Charlotte
Period	8/21/16 → 8/24/16

ASJC Scopus subject areas

Mechanical Engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Modeling and Simulation

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10.1115/DETC2016-59230

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Cite this

De La Fuente, J., Sugar, T., Redkar, S., & Bates, A. R. (2016). Nonlinear phase-based oscillator to generate and assist periodic motions. In 40th Mechanisms and Robotics Conference (Vol. 5B-2016). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2016-59230

De La Fuente, J, Sugar, T , Redkar, S & Bates, AR 2016, Nonlinear phase-based oscillator to generate and assist periodic motions. in 40th Mechanisms and Robotics Conference. vol. 5B-2016, American Society of Mechanical Engineers (ASME), ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016, Charlotte, United States, 8/21/16. https://doi.org/10.1115/DETC2016-59230

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abstract = "Oscillatory behavior is important for tasks such as walking and running. We are developing methods to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. The stability of the system is proved using the Poincar{\'e}-Bendixson criterion. Linear and rotational mechanical systems are simulated using our phase controller. The method is implemented and tested to control a pendulum. Lastly, we propose how to assist hip motion during walking using the phase-based forcing function.",

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N2 - Oscillatory behavior is important for tasks such as walking and running. We are developing methods to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. The stability of the system is proved using the Poincaré-Bendixson criterion. Linear and rotational mechanical systems are simulated using our phase controller. The method is implemented and tested to control a pendulum. Lastly, we propose how to assist hip motion during walking using the phase-based forcing function.

AB - Oscillatory behavior is important for tasks such as walking and running. We are developing methods to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. The stability of the system is proved using the Poincaré-Bendixson criterion. Linear and rotational mechanical systems are simulated using our phase controller. The method is implemented and tested to control a pendulum. Lastly, we propose how to assist hip motion during walking using the phase-based forcing function.

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