Model-based control of remote actuation based on cable-conduit transmissions
| Author(s) | Borowski, Andrew | |
| Date Accessioned | 2018-09-28T13:31:07Z | |
| Date Available | 2018-09-28T13:31:07Z | |
| Publication Date | 2018 | |
| SWORD Update | 2018-07-23T22:13:56Z | |
| Abstract | In the field of rehabilitation robotics, wearable systems need to optimize mass distribution to reduce dynamic loading on distal joints. When this optimization requires actuators be placed at locations distant from the joint they actuate, a cableconduit transmission can be used to transmit forces to where they are needed. While desirable for their low mass and flexibility, cable-conduit transmissions introduce large frictional forces into the system that may result in the non-natural motion of the interacting individual. Model based controllers can reduce the dynamic loading introduced by cable-conduit transmissions, but presently there exists no model suitable for controller use when the environment is non-passive. ☐ This work presents a new dynamic model of a cable-conduit transmission designed to model interactions with non-passive environments, such as a human physically interacting with a cable-conduit actuated robot. This non-linear model features bi-directional propagation of motion within the transmission and captures the associated frictional phenomena. The model is validated in a physical prototype through experiments involving interaction with a human subject. To enable use in a real-time controller application, a novel solution method, that operates 2 orders of magnitude faster than traditional methods, is described and proven. ☐ The proposed model is evaluated for use as a tool to estimate states and mechanical parameters during system operation, combining information from redundant noisy sensors. Finally, designs for control schemes utilizing the model are discussed, and several simulations are conducted to demonstrate improved system performance when using a model-based controller. Development of this model will allow for future researchers to include model-based low level control in their devices, improving performance. | en_US |
| Advisor | Sergi, Fabrizio | |
| Advisor | Roberts, Dustyn | |
| Degree | M.S.M.E. | |
| Department | University of Delaware, Department of Mechanical Engineering | |
| Unique Identifier | 1054906391 | |
| URL | http://udspace.udel.edu/handle/19716/23858 | |
| Language | en | |
| Publisher | University of Delaware | en_US |
| URI | https://search.proquest.com/docview/2086019694?accountid=10457 | |
| Keywords | Applied sciences | en_US |
| Title | Model-based control of remote actuation based on cable-conduit transmissions | en_US |
| Type | Thesis | en_US |