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 | |
| 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 |
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ASJC Scopus subject areas
- Mechanical Engineering
- Computer Graphics and Computer-Aided Design
- Computer Science Applications
- Modeling and Simulation
Cite this
Nonlinear phase-based oscillator to generate and assist periodic motions. / De La Fuente, Juan; Sugar, Thomas; Redkar, Sangram; Bates, Andrew R.
40th Mechanisms and Robotics Conference. Vol. 5B-2016 American Society of Mechanical Engineers (ASME), 2016.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Nonlinear phase-based oscillator to generate and assist periodic motions
AU - De La Fuente, Juan
AU - Sugar, Thomas
AU - Redkar, Sangram
AU - Bates, Andrew R.
PY - 2016
Y1 - 2016
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.
UR - http://www.scopus.com/inward/record.url?scp=85007579813&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85007579813&partnerID=8YFLogxK
U2 - 10.1115/DETC2016-59230
DO - 10.1115/DETC2016-59230
M3 - Conference contribution
VL - 5B-2016
BT - 40th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
ER -