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 proceedingConference 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 languageEnglish (US)
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5B-2016
ISBN (Electronic)9780791850169
DOIs
StatePublished - 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: Aug 21 2016Aug 24 2016

Other

OtherASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period8/21/168/24/16

ASJC Scopus subject areas

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

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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