Target Force Research Articles

Tailoring stiffness distribution of tendon-driven continuum finger from manipulation force vector

Continuum soft-robotic fingers/arms have emerged as a promising solution to realize abilities to delicately manipulate objects, conform to various shapes, and maintain cost-efficiency (i.e. fewer actuators and less computational resource). This paper introduces a novel approach to designing continuum flexible fingers by optimizing the fingers' thickness distribution to achieve specific target force vectors for specific manipulations, enabling actions like pull-in handing (retraction), push-out manipulation, secure grip, and gentle object hold. The proposed method employs a genetic algorithm to optimize the thickness distribution of the continuum finger driven by a single motor, resulting in a highly versatile and cost-effective solution. The proposed method includes physical simulations to validate the approach's effectiveness in applying desired force vectors during manipulation interactions. This work represents a significant advancement in continuum robotic systems, potentially impacting a wide range of applications in human-robot collaboration.

The Amount and Pattern of Reciprocal Compensations Predict Performance Stability in a Visually Guided Finger Force Production Task.

Previous work suggests that synergistic activity among motor elements implicated in force production tasks underlies enhanced performance stability associated with visual feedback. A hallmark of synergistic activity is reciprocal compensation, that is, covariation in the states of motor elements that stabilizes critical performance variables. The present study examined if characteristics of reciprocal compensation are indicators of individuals' capacity to respond adaptively to variations in the resolution of visual feedback about criterion performance. Twenty healthy adults (19.25 ± 1.25years; 15 females and five males) pressed two sensors with their index fingers to produce a total target force equivalent to 20% of their maximal voluntary contraction under nine conditions that differed in the spatial resolution of real-time feedback about their performance. By combining within-trial uncontrolled manifold and sample entropy analyses, we quantified the amount and degree of irregularity (i.e.,non-repetitiveness) of reciprocal compensations over time. We found a U-shaped relationship between performance stability and gain. Importantly, this relationship was moderated by the degree of irregularity of reciprocal compensation. Lower irregularity in reciprocal compensation patterns was related to individuals' capacity to maintain (or minimize losses in) performance under changes in feedback resolution. Results invite future investigation into how interindividual variations in reciprocal compensation patterns relate to differences in control strategies supporting adaptive responses in complex, visually guided motor tasks.

Distinct Neural Drives along the Semitendinosus Muscle.

Conflicting results have been reported on the functional role of the proximal and distal compartments of the semitendinosus (ST) muscle. This study compared the discharge characteristics of motor units (MUs) in the two compartments at three knee-joint angles (0°: long length, 45°: intermediate length, and 90°: short length). Twenty men (21.4 ± 2.3 years) performed steady isometric contractions with the knee flexors at four target forces: 10%, 20%, 40%, and 60% of maximum voluntary contraction (MVC). High-density electromyography (EMG) signals were recorded to examine the MU discharge characteristics in the two compartments. Measurements included recruitment threshold (RT), mean discharge rate (MDR), coefficient of variation for interspike interval (CoV for ISI), and the standard deviation of filtered cumulative spike train (SD of fCST). Additionally, the within- and between-compartment association of the neural drive was calculated. Analysis of variance indicated that maximal force, absolute EMG amplitude during the MVCs, and force steadiness (CoV for force) were greater at the longest muscle length than the other two lengths (P < 0.05). Linear mixed models showed that both RT and CoV for ISI were similar between compartments (P > 0.05) at each of the three knee-joint angles. However, MDR and the variability in neural drive were greater for the proximal than the distal compartment (P < 0.05). The between-compartment association in neural drive (fCST) was relatively low. There were distinct differences in motor unit discharge characteristics between the proximal and distal compartments of ST across its operating range of muscle lengths and each compartment received a relatively distinct neural drive. These findings emphasize the importance of recognizing differences in neural control of the ST compartments to guide related interventions and inform rehabilitation strategies.

Reliability of cervicocephalic sense of force

Cervicocephalic proprioception (CCP) is an important assessment item for people with a range of clinical conditions, where reduced CCP is associated with neck pain and imbalance. Reliability has been established for a range of positional and movements tests, but there is limited data regarding sense of force, particularly across three planes of movement. The current test–retest study assessed reliability when evaluating sense of force in healthy adults (8 males, 6 females, mean age 31.50 years [SD 10.14]) over two sessions, 4–7 days apart. A force matching protocol was used to evaluate reliability of absolute error (AE), constant error (CE), and variable error (VE) for 10 % and 25 % maximal voluntary contraction (MVC) target forces for flexion, extension, lateral flexion, and rotation. Participants were strapped to a chair to limit trunk movement and data was captured using a compressive force transducer fixed to an adjustable wall mount. Six trials were performed for each contraction-type, totaling 72 submaximal MVCs per session. ICC estimates for AE (0.15–0.77), CE (0.01–0.85), and VE (0.00–0.83) were varied and confidence intervals were mostly wide. Considering lower limits of confidence intervals, CE had best reliability values generally, but more specifically the most reliable contraction type and movement was 25 % MVC flexion (ICC 0.85, confidence interval 0.54–0.95). This study found that reliability for sense of force testing was dependent upon contraction, type of error, and target force utilized. Further reliability analysis should be performed when applying this test to measure validity outcomes in clinical populations.

Reduced rate of force development under fatigued conditions is associated to the decline in force complexity in adult males.

This study aimed to verify whether the slowing of muscle contraction quickness, typically observed in states of fatigue, may worsen force control by decreasing the rate with which force fluctuations are modulated. Therefore, we investigated the relationship between rate of force development (RFD), and force fluctuations' magnitude (Coefficient of variation, CoV) and complexity (Approximate Entropy, ApEn; Detrended fluctuation analysis, DFAα). Fourteen participants performed intermittent ballistic isometric contractions of the plantar dorsiflexors at 70% of maximal voluntary force until task failure (under 60% twice). Indices of RFD (RFDpeak, RFD50, RFD100, and RFD150) decreased over time by approximately 46, 32, 44, and 39%, respectively (p all ≤ 0.007). DFAα increased by 10% (p < 0.001), and CoV increased by 15% (p < 0.001), indicating decreased force complexity along with increased force fluctuations, respectively. ApEn decreased by just over a quarter (28%, p < 0.001). The linear hierarchical models showed negative associations between RFDpeak and DFAα (β = - 3.6 10-4, p < 0.001), CoV (β = - 1.8 10-3, p < 0.001), while ApEn showed a positive association (β = 8.2 × 10-5, p < 0.001). The results suggest that exercise-induced reductions in contraction speed, lead to smoother force complexity and diminished force control due to slower adjustments around the target force. The fatigued state resulted in worsened force producing capacity and overall force control.

Changes in corticospinal excitability during motor imagery by physical practice of a force production task: Effect of the rate of force development during practice

Transcranial magnetic stimulation studies have indicated that the physical practice of a force production task increases corticospinal excitability during motor imagery (MI) of that task. However, it is unclear whether this practice-induced facilitation of corticospinal excitability during MI depends on a repeatedly practiced rate of force development (RFD). We aimed to investigate whether corticospinal excitability during MI of an isometric force production task is facilitated only when imagining the motor task with the same RFD as the physically practiced RFD. Furthermore, we aimed to examine whether corticospinal excitability during MI only occurs immediately after physical practice or is maintained. Twenty-eight right-handed young adults practiced isometric ramp force production using right index finger abduction. Half of the participants (high group) practiced the force production with high RFD, and the other half (low group) practiced the force production with low RFD. Questionnaire scores indicating MI ability were similar in the two groups. We examined the force error relative to the target force during the force production task without visual feedback, and motor evoked potential (MEP) amplitudes of the first dorsal interosseous (FDI) and abductor pollicis brevis (APB) muscles during the MI of the force production task under practiced and unpracticed RFD conditions before, immediately after, and 20 min after physical practice. Our results demonstrated that the force error in both RFD conditions significantly decreased immediately after physical practice, irrespective of the RFD condition practiced. In the high group, the MEP amplitude of the FDI muscle during MI in the high RFD condition significantly increased immediately after practice compared to that before, whereas the MEP amplitude 20 min after practice was not significantly different from that before practice. Conversely, the MEP amplitude during MI in the high RFD condition did not change significantly in the low group, and neither group had significant changes in MEP amplitude during MI in the low RFD condition. The facilitatory effect of corticospinal excitability during MI with high RFD observed only immediately after physical practice in the high RFD condition may reflect short-term functional changes in the primary motor cortex induced by physical practice.

Active suspension hierarchical control with parameter uncertainty and external disturbance of electro-hydraulic actuators

In order to improve the ride comfort and handling stability of the electro-hydraulic active suspension system, a hierarchical control strategy is proposed. For the active suspension system with body mass uncertainty and safety constraints, an enhanced constraint adaptive backstepping controller is designed to generate the target force of body vertical motion. When dealing with constraints, nonlinear filters are introduced, backstepping technology and quadratic Lyapunov function are used to combine the control target and domain constraints, and the vertical displacement of the body and the suspension deflection control index are synthesized into a single controlled variable, so that the control variable converging to zero meets the suspension dynamic displacement limit. The ride comfort and safety of the active suspension system are improved. Secondly, stability analysis is conducted on the zero dynamic error system to ensure that all safety performance indicators are bounded. The effects of external disturbances, parameter uncertainties and modelling errors on the force tracking accuracy of asymmetric cylinder electrohydraulic systems are addressed. A backstepping dynamic surface control method based on a nonlinear perturbation observer is proposed, which estimates the composite perturbation terms such as modelling error and external perturbation, and uses the estimated value of the nonlinear observer to design a feedforward compensating control term to offset the effect of the composite perturbation on the system performance. In addition, the dynamic surface control method is used to calculate the derivative of the target force input, which avoids the derivative explosion phenomenon and reduces the computational complexity of the system. Simulation test results show that this method reduces the computational complexity of the system and improves the control performance. And under random and bumpy road conditions, the root-mean-square value of sprung mass acceleration performance index is reduced by 48.354 % and 72.677 % compared with passive suspension, which improves the ride comfort of the vehicle.

Foot-dominance does not influence force variability during ankle dorsiflexion and foot adduction

ABSTRACT The aim of our study was to compare the force steadiness and the discharge characteristics of motor units in the tibialis anterior (TA) during ankle dorsiflexion and foot adduction produced by submaximal isometric contractions with the dominant and non-dominant foot. Fifteen young men performed maximal and submaximal contractions at five target forces with both legs, and motor unit activity in TA was recorded using high-density electromyography. Maximal force and the fluctuations in force during submaximal contractions were similar between the two legs (p > 0.05). Motor unit activity was characterized by measures of mean discharge rate (MDR), coefficient of variation for interspike interval (CoV for ISI), and standard deviation of the filtered cumulative spike train (SD of fCST). There were no statistically significant differences in motor unit activity between legs during ankle dorsiflexion. In contrast, the MDR and the CoV for ISI but not the SD of fCST, were greater for the non-dominant foot compared with the dominant foot during foot adduction. Nonetheless, these differences in motor unit activity were not sufficient to influence the force fluctuations during the submaximal contractions. These results indicate that control of the force produced by TA during the two actions was not influenced by limb dominance.

Site Dependency of Anodal Transcranial Direct-Current Stimulation on Reaction Time and Transfer of Learning during a Sequential Visual Isometric Pinch Task.

Considering the advantages of brain stimulation techniques in detecting the role of different areas of the brain in human sensorimotor behaviors, we used anodal transcranial direct-current stimulation (a-tDCS) over three different brain sites of the frontoparietal cortex (FPC) in healthy participants to elucidate the role of these three brain areas of the FPC on reaction time (RT) during a sequential visual isometric pinch task (SVIPT). We also aimed to assess if the stimulation of these cortical sites affects the transfer of learning during SVIPT. A total of 48 right-handed healthy participants were randomly assigned to one of the four a-tDCS groups: (1) left primary motor cortex (M1), (2) left dorsolateral prefrontal cortex (DLPFC), (3) left posterior parietal cortex (PPC), and (4) sham. A-tDCS (0.3 mA, 20 min) was applied concurrently with the SVIPT, in which the participants precisely controlled their forces to reach seven different target forces from 10 to 40% of the maximum voluntary contraction (MVC) presented on a computer screen with the right dominant hand. Four test blocks were randomly performed at the baseline and 15 min after the intervention, including sequence and random blocks with either hand. Our results showed significant elongations in the ratio of RTs between the M1 and sham groups in the sequence blocks of both the right-trained and left-untrained hands. No significant differences were found between the DLPFC and sham groups and the PPC and sham groups in RT measurements within the SVIPT. Our findings suggest that RT improvement within implicit learning of an SVIPT is not mediated by single-session a-tDCS over M1, DLPFC, or PPC. Further research is needed to understand the optimal characteristics of tDCS and stimulation sites to modulate reaction time in a precision control task such as an SVIPT.

Event‐triggered based finite‐frequency control for vehicle electrohydraulic suspension with force tracking

AbstractThis study investigates the problem of event‐triggered based finite‐frequency control for vehicle electrohydraulic suspensions with force tracking. A novel hierarchical control methodology is proposed by designing event‐triggered finite frequency and active force tracking controllers to improve the suspension performance. In practical application, active suspension system can be constructed as the network control system under consideration of the electrohydraulic actuator's nonlinear dynamics and parametric uncertainties, and in‐vehicle network delay in a unified framework. Then, due to the more sensitiveness of the human body to vertical vibrations in 4–8 Hz and limited in‐vehicle network communication resource, an event‐triggered finite frequency controller is developed based on the generalized KYP lemma and Lyapunov stability theory. The triggered condition is designed for the network control system with in‐vehicle network delay. Other physical constraints including suspension working space, tire dynamic load and actuator saturation are also introduced in this controller design. It can generate the target force to satisfy suspension performance requirements under each triggered instant period. Furthermore, since the nonlinearity and uncertainty always exist in the electrohydraulic actuator, a filter‐based adaptive sliding mode control method is employed to design the active force tracking controller. It can precisely drive electrohydraulic actuator to track the target constant force generated by event‐triggered finite frequency controller. Finally, the results validate the effectiveness and saving communication resource capability of the proposed control methodology.

Measuring and monitoring skill learning in closed-loop myoelectric hand prostheses using speed-accuracy tradeoffs

Objective. Closed-loop myoelectric prostheses, which combine supplementary sensory feedback and electromyography (EMG) based control, hold the potential to narrow the divide between natural and bionic hands. The use of these devices, however, requires dedicated training. Therefore, it is crucial to develop methods that quantify how users acquire skilled control over their prostheses to effectively monitor skill progression and inform the development of interfaces that optimize this process. Approach. Building on theories of skill learning in human motor control, we measured speed-accuracy tradeoff functions (SAFs) to comprehensively characterize learning-induced changes in skill—as opposed to merely tracking changes in task success across training—facilitated by a closed-loop interface that combined proportional control and EMG feedback. Sixteen healthy participants and one individual with a transradial limb loss participated in a three-day experiment where they were instructed to perform the box-and-blocks task using a timed force-matching paradigm at four specified speeds to reach two target force levels, such that the SAF could be determined. Main results. We found that the participants’ accuracy increased in a similar way across all speeds we tested. Consequently, the shape of the SAF remained similar across days, at both force levels. Further, we observed that EMG feedback enabled participants to improve their motor execution in terms of reduced trial-by-trial variability, a hallmark of skilled behavior. We then fit a power law model of the SAF, and demonstrated how the model parameters could be used to identify and monitor changes in skill. Significance. We comprehensively characterized how an EMG feedback interface enabled skill acquisition, both at the level of task performance and movement execution. More generally, we believe that the proposed methods are effective for measuring and monitoring user skill progression in closed-loop prosthesis control.

Magnetorheological Damper Force Prediction using Particle Swarm Optimization and Long Short-Term Memory Model

Smart materials, like magnetorheological (MR) fluid, are gaining attention for their ability to rapidly change properties under magnetic influence, making them useful in vibration control systems for vehicles, medical devices, and civil engineering structures. Common parametric models, such as Bouc-Wen and Bingham, are traditionally employed to model MR damper dynamics behavior. However, the manual tuning of numerous parameters in these models increases complexity and hinders the identification of inverse models, potentially leading to unpredictable optimum target forces. In response to these challenges, this study suggested a non-parametric approach using Long Short-Term Memory (LSTM) models to predict the optimum target force of MR dampers. Unlike parametric models, LSTM models capture dynamic behavior without the need for extensive manual tuning. To optimize the LSTM model, Particle Swarm Optimization (PSO) is employed to fine-tune hyperparameter values, ensuring robust performance. The proposed non-parametric method, specifically the PSO-LSTM model, demonstrates faster processing times compared to traditional parametric approaches. The proposed model produced an accurate damping force prediction with a root mean square error of less than 5%, This novel approach simplifies the modeling process and offers an efficient and precise alternative to traditional parametric methods.

The interplay of sensory feedback, arousal, and action tremor amplitude in essential tremor.

Essential tremor (ET) amplitude is modulated by visual feedback during target driven movements and in a grip force task. It has not been examined yet whether visual feedback exclusively modulates target force tremor amplitude or if other afferent inputs like auditory sensation has a modulatory effect on tremor amplitude as well. Also, it is unknown whether the enhanced sensory feedback causes an increase of arousal in persons with ET (p-ET). We hypothesized that (1) amplitude of tremor is modulated by variation of auditory feedback in the absence of visual feedback in a force tremor paradigm; (2) increase of tremor amplitude coincides with pupillary size as a measure of arousal. 14 p-ET and 14 matched healthy controls (HC) conducted a computer-based experiment in which they were asked to match a target force on a force sensor using their thumb and index finger. The force-induced movement was fed back to the participant visually, auditory or by a combination of both. Results showed a comparable deviation from the target force (RMSE) during the experiment during all three sensory feedback modalities. The ANOVA revealed an effect of the high vs. low feedback condition on the tremor severity (Power 4-12Hz) for the visual- and also for the auditory feedback condition in p-ET. Pupillometry showed a significantly increased pupil diameter during the auditory involved high feedback conditions compared to the low feedback conditions in p-ET. Our findings suggest that action tremor in ET is firstly modulated not only by visual feedback but also by auditory feedback in a comparable manner. Therefore, tremor modulation seems to be modality independent. Secondly, high feedback was associated with a significant pupil dilation, possibly mirroring an increased arousal/perceived effort.

Learning-Based Control for Soft Robot-Environment Interaction with Force/Position Tracking Capability.

Soft robotics promises to achieve safe and efficient interactions with the environment by exploiting its inherent compliance and designing control strategies. However, effective control for the soft robot-environment interaction has been a challenging task. The challenges arise from the nonlinearity and complexity of soft robot dynamics, especially in situations where the environment is unknown and uncertainties exist, making it difficult to establish analytical models. In this study, we propose a learning-based optimal control approach as an attempt to address these challenges, which is an optimized combination of a feedforward controller based on probabilistic model predictive control and a feedback controller based on nonparametric learning methods. The approach is purely data-driven, without prior knowledge of soft robot dynamics and environment structures, and can be easily updated online to adapt to unknown environments. A theoretical analysis of the approach is provided to ensure its stability and convergence. The proposed approach enabled a soft robotic manipulator to track target positions and forces when interacting with a manikin in different cases. Moreover, comparisons with other data-driven control methods show a better performance of our approach. Overall, this work provides a viable learning-based control approach for soft robot-environment interactions with force/position tracking capability.

Control of motor output during steady submaximal contractions is modulated by contraction history.

The purpose of the study was to investigate the influence of contraction history on force steadiness and the associated EMG activity during submaximal isometric contractions performed with the dorsiflexor muscles. The key feature of the protocol was a triangular ramp contraction performed in the middle of a steady contraction at a lower target force. The target force during the ramp contraction was 20% MVC greater than that during the steady contraction. Thirty-seven healthy individuals (21 men and 16 women) performed the submaximal tasks with the ankle dorsiflexors. Electromyography (EMG) signals were recorded from tibialis anterior with a pair of surface electrodes. The coefficient of variation for force was significantly greater during the second steady contraction compared with the first one at each of the seven target forces (p<0.015; d=0.38-0.92). Although the average applied force during the steady contractions before and after the triangular contraction was the same (p=0.563), the mean EMG amplitude for the steady contractions performed after the triangular contraction was significantly greater at each of the seven target forces (p<0.0001; d=0.44-0.68). Also, there were significant differences in mean EMG frequency between the steady contractions performed before and after the triangular contraction (p<0.01; d=0.13-0.82), except at 10 and 20% MVC force. The greater force fluctuations during a steady submaximal contraction after an intervening triangular contraction indicate a change in the discharge characteristics of the involved motor units.

Comparison of force profiles from two musculoskeletal palpation methods: A methodological study.

The Diagnostic Criteria for Temporomandibular Disorders (DC/TMD) protocol recommends a 5 s and 1 kg force dynamic palpation around the lateral condylar pole of the temporomandibular joint. However, the accuracy and precision of the generated force are not known. To assess and compare the force profiles generated from dynamic palpation manually and using a palpometer, based on the forces and time recommendations suggested by the DC/TMD protocol. Nineteen healthy adults applied forces of 0.5 kg, 1.0 kg and 2.0 kg on a calibrated force sensor in a circular motion within target times of 2 s and 5 s. Participants used their right index finger for manual palpation and a calibrated palpometer for device-assisted palpation. Ten repetitions of each target force at both target times were applied. Time taken to complete each application was recorded. Repeated measures analysis of variance was used for analysis of accuracy measured as the relative difference between targeted force and actual force values and precision measured as the coefficient of variation (CV) within the 10 repeated measurements. Accuracy was significantly lower (better) and precision higher (lower CV) with the palpometer than with manual palpation (p < .001). There were significant differences in accuracy and precision between the different forces but not palpation times. Most participants could not achieve the target times and tended to be faster, irrespective of the palpation method (p > .063). A palpometer is a more accurate and precise palpation method for dynamic force assessment compared to manual palpation; however, it remains difficult to standardize the palpation duration.

Validation of a spring loaded probe for single and repeat pressure pain testing, including public domain specifications for design and manufacture.

Temporal summation of pressure pain is technically more challenging than simple pressure pain thresholds. The current study describes the design, manufacture and validation of a simple mechanical test apparatus to assess the temporal summation of deep pressure pain. We release design details into the public domain with the intention of providing free access for researchers especially in low income countries. Utility and validity of the probes were assessed by pressure application in three different experimental setups: A. Identifying potential issues which needed to be addressed to ensure a reliable test procedure (189 tests with 24 testers using four different probes). B. Selecting the most reliable target force curve (one tester conducted 20 tests). C. Estimating classic inter and intra-examiner reliability and comparing probe measures to other QST measures (repeated measures study with counterbalancing). We make recommendations on best use of the probes. Pressure pain thresholds assessed using probes were affected by anatomical test site and testing tool, but not by tester, day or session. Temporal summation of pressure pain was significantly greater than that of a single pressure application. We found no correlation between temporal summation using the probes on the Infra-Spinatus muscle and temporal summation using a pneumatic cuff on the lower leg. The probe was a useful tool for assessing pain intensity and temporal summation of pressure pain intensity, but not for pain thresholds. A number of caveats need to be considered when using the probe, including but not limited to audio cues and target ideal wave function.

More Variability in Tibialis Anterior Function during the Adduction of the Foot than Dorsiflexion of the Ankle.

The aim of the study was to compare maximal force, force steadiness, and the discharge characteristics of motor units in the tibialis anterior (TA) muscle during submaximal isometric contractions for ankle dorsiflexion and adduction of the foot. Nineteen active young adults performed maximal and submaximal isometric dorsiflexion and adduction contractions at five target forces (5%, 10%, 20%, 40%, and 60% maximal voluntary contraction [MVC]). The activity of motor units in TA was recorded by high-density EMG. The maximal force was similar between dorsiflexion and adduction, despite EMG amplitude for TA being greater ( P < 0.05) during dorsiflexion than adduction. Τhe coefficient of variation (CV) for force (force steadiness) during dorsiflexion was always less ( P < 0.05) than during adduction, except of 5% MVC force. No differences were observed for mean discharge rate; however, the regression between the changes in discharge rate relative to the change of force was significant for dorsiflexion ( R2 = 0.25, P < 0.05) but not for adduction. Discharge variability, however, was usually less during dorsiflexion. The CV for interspike interval was less ( P < 0.05) at 10%, 20%, and 40% MVC but greater at 60% MVC during dorsiflexion than adduction. Similarly, the SD values of the filtered cumulative spike train of the motor units in TA were less ( P < 0.05) at 5%, 10%, 20%, and 40% MVC during dorsiflexion than adduction. Although the mean discharge rate of motor units in TA was similar during foot adduction and ankle dorsiflexion, discharge variability was less during dorsiflexion resulting in less accurate performance of the steady adduction contractions. The neural drive to bifunctional muscles differs during their accessory function, which must be considered for training and rehabilitation interventions.

Inversion of wind load on high-rise buildings under non-stationary and non-Gaussian conditions via DKF and FB-FFT

Wind-induced effects should be especially concerned for the design and maintenance of high-rise buildings, and information of wind load is sometimes prerequisite for related wind-resistant practices. Previous studies have been mainly conducted to deduce wind load on high-rise buildings under stationary and Gaussian conditions. However, due to the inherent randomness, wind load often exhibits non-stationary and non-Gaussian characteristics. This study employs two methods, namely Discrete Kalman Filter (DKF) and Fast Bayesian Fourier Transform (FB-FFT), to estimate wind load on high-rise buildings under non-stationary and/or non-Gaussian conditions. Firstly, a numerical building model is employed to evaluate the inversion performance of the two methods. Subsequently, both methods are applied to determine the wind load on a real building. Results through numerical simulation analysis demonstrate that DKF can invert the base force and modal force accurately under non-stationary conditions. For stationary non-Gaussian cases, the inverted wind load approximates the target force in terms of amplitude, but the inversion result exhibits Gaussian characteristics. FB-FFT can be basically utilized to invert the modal force under varied concerned conditions, yet the estimated wind load for stationary non-Gaussian case is slightly smaller than the target value. In reference to the real high-rise building example, DKF is found to produce similar results to those determined on the basis of wind tunnel test and in-situ measurement. Meanwhile, results of model force obtained via the two methods agree with each other. The above findings suggest that DKF and FB-FFT can be employed, at least partially, to deal with the issues of wind load inversion under non-stationary and non-Gaussian conditions.

Pedicle drilling force control of a robotic surgical system via spine-soft tissue coupling model and parameters optimization

Bone drilling is a crucial operation in spinal fusion surgery that requires precise control of the applied force to ensure surgical safety. This manuscript aims to enhance the force servo performance of the orthopedic robot during automatic bone drilling operations. Firstly, an analytical model is introduced to describe the spinal mobility of the spine-soft tissue coupling structure. Then, the model is calibrated using force data obtained from stress relaxation tests. Next, optimal force controller parameters are determined through drilling force control simulations based on the identified model. The dynamic performance and robustness of the closed-loop control system are analyzed to ensure safe drilling procedures. Finally, bone drilling experiments are conducted in a force control mode to verify the effectiveness of the proposed method. The step drilling force response's steady-state error is less than 0.15 N, the relative control error is less than 3 %, and there is no noticeable force overshoot. The amplitude of the sinusoidal force response decays to −3 dB when the target force frequency is up to 3.49 rad/s, indicating a wide control bandwidth. These results demonstrate that the proposed method can rapidly and safely provide an adequate force servo to carry out automatic bone drilling.