Compliant Coupling Research Articles

Lower Limb Exoskeleton With Compliant Actuators: Design, Modeling, and Human Torque Estimation

Active lower limb exoskeletons are increasingly used in rehabilitation therapy. An important aspect and ongoing research topic in developing such assistive devices is safe human–machine interaction. Another major challenge in the control of exoskeletons is determining the subject's intention to move for providing cooperative assistance. To address both challenges, we first present the design of a new lower limb exoskeleton with variable stiffness actuators for compliant coupling between human and robot. The exoskeleton's actuated hip, and knee joints are controlled via a stiffness-dependent torque control. In a second step, we derive a detailed model for the swing phase using the Lagrange formalism. We utilize the model and an interaction torque measurement based on the deflection of the serial elasticity to estimate the subject's motion intention. This estimation is realized by nonlinear state estimation using an unscented Kalman filter (UKF). The UKF is able to track the hip and knee torque contributed by the subject during normal gait in real time and provides more robust results than the inverse dynamics approach.

An Intrapericardial Injectable Hydrogel Patch for Mechanical-Electrical Coupling with Infarcted Myocardium.

Although hydrogel-based patches have shown promising therapeutic efficacy in myocardial infarction (MI), synergistic mechanical, electrical, and biological cues are required to restore cardiac electrical conduction and diastolic-systolic function. Here, an injectable mechanical-electrical coupling hydrogel patch (MEHP) is developed via dynamic covalent/noncovalent cross-linking, appropriate for cell encapsulation and minimally invasive implantation into the pericardial cavity. Pericardial fixation and hydrogel self-adhesiveness properties enable the MEHP to highly compliant interfacial coupling with cyclically deformed myocardium. The self-adaptive MEHP inhibits ventricular dilation while assisting cardiac pulsatile function. The MEHP with the electrical conductivity and sensitivity to match myocardial tissue improves electrical connectivity between healthy and infarcted areas and increases electrical conduction velocity and synchronization. Overall, the MEHP combined with cell therapy effectively prevents ventricular fibrosis and remodeling, promotes neovascularization, and restores electrical propagation and synchronized pulsation, facilitating the clinical translation of cardiac tissue engineering.

Simulator Coupled with Distributed Co-Simulation Protocol for Automated Driving Tests

To meet the challenges in software testing for automated vehicles, such as increasing system complexity and an infinite number of operating scenarios, new simulation methods must be developed. Closed-loop simulations for automated driving (AD) require highly complex simulation models for multiple controlled vehicles with their perception systems as well as their surrounding context. For the realization of such models, different simulation domains must be coupled with co-simulation. However, widely supported model integration standards such as functional mock-up interface (FMI) lack native support for distributed platforms, which is a key feature for AD due to the computational intensity and platform exclusivity of certain models. The newer FMI companion standard distributed co-simulation protocol (DCP) introduces platform coupling but must still be used in conjunction with AD co-simulations. As part of an assessment framework for AD, this paper presents a DCP compliant implementation of an interoperable interface between a 3D environment and vehicle simulator and a co-simulation platform. A universal Python wrapper is implemented and connected to the simulator to allow its control as a DCP slave. A C-code-based interface enables the co-simulation platform to act as a DCP master and to realize cross-platform data exchange and time synchronization of the environment simulation with other integrated models. A model-in-the-loop use case is performed with the traffic simulator CARLA running on a Linux machine connected to the co-simulation master xMOD on a Windows computer via DCP. Several virtual vehicles are successfully controlled by cooperative adaptive cruise controllers executed outside of CARLA. The standard compliance of the implementation is verified by exemplary connection to prototypic DCP solutions from 3rd party vendors. This exemplary application demonstrates the benefits of DCP compliant tool coupling for AD simulation with increased tool interoperability, reuse potential, and performance.

Development of Cable-driven Anthropomorphic Robot Hand

This letter presents a novel design of an anthropomorphic robotic hand. By using a parallel plate knuckle with a universal joint, it is possible to achieve two degree of freedom (DOF) at a joint of a finger with wide working range in the proposed design. Each degree of freedom of the robotic hand is driven by parallel cables with single motor that mimics the muscle antagonism of the human hand. The proposed robotic hand embodies human-like features and achieves an adaptive grasping capability by adopting compliant coupling between the distal and the proximal interphalangeal joints. Experiments are conducted to validate the performance of the robotic hand.

Haptic Coupling in Dyads Improves Motor Learning in a Simple Force Field.

In dyadic motor learning, pairs of people learn the same motion while their limbs are loosely coupled together using haptic devices. Such coupled learning has been shown to outperform solo learning (including robot-guided learning) for simple one-degree-of-freedom tasks. However, results from more complex tasks are limited and sometimes conflicting. We thus evaluated coupled learning in a two-degree-of-freedom tracking task where participants also had to compensate for a simple force field. Participant pairs were split into two groups: an experiment group that experienced a compliant haptic coupling between participants' hands and a control group that did not. The study protocol consisted of 70 repetitions of 18.9-second tracking trials: 10 initial solo trials with no coupling, 50 "learning" trials (where participants in the experiment group were coupled), and 10 final solo trials with no coupling. The experiment group (coupled) improved their solo tracking performance both in the presence (p = 0.008) and absence (p <; 0.001) of the force field; however, the control group (no coupling) only improved their solo performance in the absence of the force field (p <; 0.001) but not in the presence of the field (p = 0.81). This suggests that dyadic motor learning can outperform solo learning for two-dimensional tracking motions in the presence of a simple force field, though the mechanism by which learning is improved is not yet clear.Clinical Relevance-As motor learning is critical for applications such as motor rehabilitation, dyadic training could be used to achieve a better overall outcome and a faster learning speed in these applications compared to solo training.

The effective tensile and bending stiffness of nanotube fibers

We analyze the pure bending state, preliminarily considering the pure traction problem, for a fiber with circular cross-section composed by monodispersed Nano Tube (NT) segments, whose length is much lower than the length of the fiber, arranged in a cross-sectional square lattice, possibly inclined with respect to the bending plane. The proposed model accounts for the compliant shear coupling of the constituent NTs along their lateral contact surfaces, and considers that the position of each NT is offset with respect to the neighboring ones by a fixed distance. The shearing of the NTs permits their mobility in longitudinal direction, inducing an internal rearrangement, calculated through energy minimization, that affects the macroscopic response. With a micro-macro approach, the internal actions in the whole fiber are calculated. We find that uniform axial macroscopic strain is associated with constant tensile normal force in the fiber and null moment; correspondingly, constant macroscopic curvature provides a constant bending moment in the plane of bending and null axial force. It is then possible to consider the NT fiber as an equivalent homogeneous beam, whose effective tensile and bending stiffness can be calculated, finding a dependence upon the aspect ratio of the fiber, the aspect ratio of the individual NTs and, more important, the offset of the NTs. The model permits to interpret recent experimental results.

A Magnetically Coupled Dielectric Elastomer Pump for Soft Robotics

AbstractFluidic elastomer actuators have become ubiquitous in soft robotics as they can be used to create inherently compliant systems with embodied intelligence. However, they typically use conventional rigid air‐compression systems that restrict their application in untethered mobile and wearable devices. An embeddable pneumatic diaphragm pump is presented for soft robotics driven by a magnetically coupled dielectric elastomer actuator (MCDEA). The MCDEA pump exploits a compliant coupling between membranes to resonate at high power and efficiency despite the damping effects of the pneumatic chamber and valves. The MCDEA pump demonstrates an attractive dynamic performance with a peak stroke at resonance of over 800% of that at low frequencies, which corresponds to a maximum output pressure of 30.5 mbar and a flowrate of 0.9 L min−1 at a relatively low power consumption of 40 mW. The performance of this pneumatic pump design is demonstrated by integrating it with several soft robotic prototypes, including a soft gripper, ballooning chamber, and a suction cup. It shows considerable promise for driving the next generation of fully compliant and untethered soft robots.

A compliantly coupled dielectric elastomer actuator using magnetic repulsion

Dielectric elastomer actuators (DEAs) have attracted growing research interest over the past two decades for their large actuation strain, inherent compliance, and low cost. The conical DEA configuration is particularly attractive thanks to their simple structure and high force/stroke actuation. A double cone DEA design with two antagonistic membranes allows active bidirectional actuation. However, in existing double cone DEA designs, the two membranes are rigidly coupled, which restricts their relative actuation response under periodic electrical input to 180° out-of-phase operation. This work presents a magnetically coupled DEA with compliant coupling by a magnetic repulsion. The compliant coupling allows two separate inputs with a fully adjustable phase difference. The current prototype demonstrates a peak normalized stroke of 14% (relative to the nominal DEA height) at a phase shift of 180° and a normalized linear expansion between the two membranes of up to 8.3% (relative to the nominal DEA height) at a phase shift of 0° at 0.5 Hz. This results in several emerging actuation behaviors, which could potentially be suitable for controllable shape changing actuations, active vibration damping, and bioinspired locomotion.

A Fully Compliant Homokinetic Coupling

This paper introduces a homokinetic coupling, a constant velocity universal joint (CV joint), which is fully compliant and potentially monolithic. The proposed compliant design can accommodate high misalignment angles between the input and the output rotational axes. Additional kinematic constraints are applied to well-known Double Hooke's universal joint, to guarantee a one-to-one constant velocity rotation transmission for all different misalignment angles. The influence of the extra constraints on degrees-of-freedom (DOF) of the mechanism is studied using screw theory. Furthermore, it was shown that the mechanism is yet a 1DOF linkage for rotation transmission and a 2DOF rotational joint as all universal joints. The kinematics of the mechanism is studied, and constant velocity conditions are identified. The pseudo-rigid-body model (PRBM) of the new angled arrangement of the Double Hooke's universal joint is created, and the input–output torque relationship is then studied. The different possible compliant embodiments based on the PRBM model were discussed and illustrated. Moreover, one of the proposed compliant counterparts is dimensioned as a power transmission coupling for a high misalignment angle, up to 45 deg. Further, a prototype was manufactured for the experimental evaluation, and it is shown that the results are consistent with the PRBM and the finite element model.

Robust Semi-Automatic Identification of Compliantly Coupled Two-Mass Systems

We present a method to identify the physical parameters of rotational systems with compliant load coupling in a robust manner. To ensure sufficient excitation, a pseudo random binary signal (PRBS) is automatically parameterized based on the noise level in the available feedback signal. To identify the plant parameters, we rely on a two step procedure: Firstly, the user is asked to mark distinct features in the non-parametric estimate of the frequency response. These features serve to calculate initial parameter guesses. Secondly, a non-convex curve fitting problem is solved to refine the parameter estimates. Experimental results verify that the method allows to robustly identify parameters even for small amounts of raw data resulting from short measurement times.

Mechanical analyses of the waveguide flange coupling for the first confinement system of the ITER electron cyclotron upper launcher

The four electron cyclotron (EC) upper port antennas (or “upper launchers” —UL) will be used to drive current locally inside magnetic islands located at the q=2 (or smaller) rational surfaces in order to stabilize neoclassical tearing modes (NTMs), as well as heat inside of ρ of about 0.4. Each antenna consists of eight beam lines that are designed for the transmission of 1.5 MW of mm-wave power at 170GHz. The First Confinement System (FCS) is formed by the ex-vessel mm-wave waveguide components, for which SIC-1 classification requirements apply.The beam lines in the FCS comprise a Z shaped set of straight corrugated waveguides with a nominal diameter of 50mm connected by miter bends. This system is subjected to imposed displacements coming mainly from the thermal expansion of the vacuum vessel, seismic events and/or plasma disruption events. In absence of suitable SIC-1 waveguide bellows, the FCS waveguides must provide the necessary mechanical functional compliance. This has required the development of a dedicated, flange type coupling system with double metallic seals, capable of resisting the generated external loads while maintaining vacuum tightness and alignment. This paper presents the results of the design, analysis and pre-qualification experimental work done on the waveguides and the integrated SIC-1 compliant coupling system.

Design and Evaluation of a Passive Ankle Prosthesis With Powered Push-Off

Below-knee amputation is one of the most frequently performed types of amputation in the United States. This paper describes CamWalk, a novel passive ankle prosthesis that has mechanical behavior similar to that of a natural ankle. CamWalk generates rotational push-off to propel the walker forward using a compliant coupling between two degrees-of-freedom (DOFs) (deflection along the leg and rotation about the ankle). The design closely matches the ankle torque and ankle work characteristics of an average healthy ankle. Simulation results indicate that CamWalk generates 44.5% of the net rotational work performed by a natural healthy ankle when leg deflection is limited to 15 mm. Standard gait analysis of four amputees using CamWalk demonstrated that the device performance ranged from marginally dissipative to significantly active, generating 48.0% of the work performed by their natural ankle.

A Double Bi-Quad Filter with Wide-Band Resonance Suppression for Servo Systems

In this paper, an algorithm using two bi-quad filters to suppress the wide-band resonance for PMSM servo systems is proposed. This algorithm is based on the double bi-quad filters structure, so it is named, "double bi-quad filter." The conventional single bi-quad filter method cannot suppress unexpected mechanical terms, which may lead to oscillations on the load side. A double bi-quad filter structure, which can cancel the effects of compliant coupling and suppress wide-band resonance, is realized by inserting a virtual filter after the motor speed output. In practical implementation, the proposed control structure is composed of two bi-quad filters on both the forward and feedback paths of the speed control loop. Both of them collectively complete the wide-band resonance suppression, and the filter on the feedback path can solve the oscillation on the load side. Meanwhile, with this approach, in certain cases, the servo system can be more robust than with the single bi-quad filter method. A step by step design procedure is provided for the proposed algorithm. Finally, its advantages are verified by theoretical analysis and experimental results.

Evaluation of a Two Degree of Freedom Passive Ankle Prosthesis With Powered Push-Off1

Evaluation of a Two Degree of Freedom Passive Ankle Prosthesis With Powered Push-Off1

A muscle-like recruitment actuator with modular redundant actuation units for soft robotics

Human muscles contrast sharply with traditional robot actuators in that they consist of several motor units, connected in series and parallel, which can be progressively recruited. Some roboticists have explored this idea in robotic actuators, striving for improvements such as the ability to withstand partial damage, inexpensive repeatability by discrete open loop control and the potential of modular actuators. These systems, however, become rather complex or rely on less widely used actuation techniques such as piezo-actuators or SMAs to produce a compact implementation. This paper presents a novel design of a modular redundant actuation unit which can be combined in various combinations to form compliant actuators with varying characteristics. The actuation unit consists of discretely activated solenoids with an integrated compliant coupling. This paper presents the working principle and the physical implementation in detail. Failure of a single motor unit will merely lead to a loss in performance rather than failure of the actuator. Since each motor unit is discrete, neither power electronics nor control requires analog signals. Isometric experiments display the actuation characteristics and demonstrate the repeatability. The platform can be used in future work to further explore the virtues of exploiting discretization and redundancy in muscle-like control.

On the Commonality Between Theoretical Models for Fluid and Solid Friction, Wear and Tribochemistry

Tribology is concerned with the influence of mechanically applied forces on interfacial phenomena that accompany and control sliding. A wide range of models has been developed to describe these phenomena, which include frictional dissipation, wear and tribochemical reactions. This paper shows that these apparently disparate models are based on the same fundamental concept that an externally applied force accelerates the rate of thermal transition of atoms or molecules across energy barriers present in solid and liquid materials, thereby promoting flow, slip or bond cleavage. Such “stress-assisted” effects and the associated thermal activation concepts were developed independently and in different forms by Prandtl (Z Angew Math Mech 8:85, 1928) and Eyring (J Chem Phys 4(4):283–291, 1936). These two works have underpinned subsequent theories of dry friction, boundary lubrication, EHD rheology, tribochemistry and nanoscale wear modelling. This paper first reviews the historical development of the concepts, focussing in particular on the models of Prandtl and Eyring and how they have subsequently been used and adapted by others. The two approaches are then compared and contrasted, noting that although superficially similar, they contain quite different assumptions and constraints. First, the Prandtl model assumes that the force is exerted through a compliant spring, while constant force sliding is assumed by Eyring. Second, different approximations are made in the two models to describe the change in energy barrier with external force. Prandtl explores the asymptotic behaviour of the energy barrier as the applied force become sufficiently high to reduce it to zero, while Eyring assumes that the energy barrier is reduced by an amount equal to the external work carried out on the system. The theoretical underpinnings of these differences are discussed along with the implications of compliant coupling and constant force sliding on the velocity and temperature dependence of the friction forces for the two models.

A Review on Compliant Joints and Rigid-Body Constant Velocity Universal Joints Toward the Design of Compliant Homokinetic Couplings

This paper presents for the first time a literature survey toward the design of compliant homokinetic couplings. The rigid-linkage-based constant velocity universal joints (CV joints) available from literature were studied, classified, their graph representations were presented, and their mechanical efficiencies compared. Similarly, literature is reviewed for different kinds of compliant joints suitable to replace instead of rigid-body joints in rigid-body CV joints. The compliant joints are compared based on analytical data. To provide a common basis for comparison, consistent flexure scales and material selection are used. It was found that existing compliant universal joints are nonconstant in velocity and designed based on rigid-body Hooke's universal joint. It was also discovered that no compliant equivalent exists for cylindrical, planar, spherical fork, and spherical parallelogram quadrilateral joints. We have demonstrated these compliant joints can be designed by combining existing compliant joints. The universal joints found in this survey are rigid-body non-CV joints, rigid-body CV joints, or compliant non-CV joints. A compliant homokinetic coupling is expected to combine the advantages of compliant mechanisms and constant velocity couplings for many applications where maintenance or cleanliness is important, for instance in medical devices and precision instruments.

Effects of Compliant Coupling on Cooperative and Bimanual Task Performance

Coupled bimanual rehabilitation allows an individual with hemiparesis to use their sound arm to assist their impaired arm during rehabilitation. This method of self-rehabilitation could be used as a low-cost alternative for home rehabilitation, however, few studies have looked at the effects of coupling stiffness and symmetry mode on bimanual task performance. We have developed a compliant bimanual rehabilitation device (CBRD) that allows for the symmetry mode and stiffness of the coupling to be easily changed. Our results show the CBRD effectively couples the motions of two individuals in a task simulating hemiparesis, and that for some tasks, the symmetry mode and stiffness affect completion time. A stiffer coupling resulted in faster completion times and lower error. The device also reduced the completion time and error of bimanual tasks performed by healthy individuals.

Non-Overshooting Force Control of Series Elastic Actuators

Whenever mechanical devices are used to interact with the environment, accurate control of the forces occurring at the interaction surfaces arises as an important challenge. Traditionally, force controlled systems utilize stiff force sensors in the feedback loop to measure and regulate the interaction forces. Series elastic actuation (SEA) is an alternative approach to force control, in which the deflection of a compliant element (orders of magnitude less stiff than a typical force sensor) placed between motor and the environment is controlled to regulate the interaction forces. The use of SEAs for force control is advantageous, since this approach possesses inherent robustness without the need for high-precision force sensors/actuators and allows for the accurate control of the force exerted by the actuator through position control of the deflection of a compliant coupling element. Here, a non-overshooting force controller is proposed to be embedded into the control structure of SEAs. Such controller architecture ensures safe operations of SAEs by making sure that the force applied to the environment are always bounded from above by the reference forces commanded to the controller.

Interaction capture and synthesis

Modifying motion capture to satisfy the constraints of new animation is difficult when contact is involved, and a critical problem for animation of hands. The compliance with which a character makes contact also reveals important aspects of the movement's purpose. We present a new technique called interaction capture , for capturing these contact phenomena. We capture contact forces at the same time as motion, at a high rate, and use both to estimate a nominal reference trajectory and joint compliance. Unlike traditional methods, our method estimates joint compliance without the need for motorized perturbation devices. New interactions can then be synthesized by physically based simulation. We describe a novel position-based linear complementarity problem formulation that includes friction, breaking contact, and the compliant coupling between contacts at different fingers. The technique is validated using data from previous work and our own perturbation-based estimates.