Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Author:

De la Fuente Juan1,Sugar Thomas G.2,Redkar Sangram2

Affiliation:

1. School of Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ 85281

2. The Polytechnic School, Arizona State University, Mesa, AZ 85212

Abstract

Oscillatory behavior is important for tasks, such as walking and running. We are developing methods for wearable robotics 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. This method is based on the state of the system and does not use off-line trajectory planning. The behavior of a limit cycle is shown using the Poincaré–Bendixson criterion. Linear and rotational models are simulated using our phase controller. The method is implemented and tested to control a pendulum.

Publisher

ASME International

Subject

Mechanical Engineering

Reference20 articles.

1. Estimating the Phase of Synchronized Oscillators;Phys. Rev.,2008

2. Tilton, A. K., Hsiao-Wecksler, E. T., and Mehta, P. G., 2012, “Filtering With Rhythms: Application to Estimation of Gait Cycle,” American Control Conference (ACC), Montréal, Canada, June 27–29, pp. 3433–3438.http://ieeexplore.ieee.org/document/6315665/

3. A Method to Add Energy to Running Gait: PogoSuit,2014

4. Adding and Subtracting Energy to Body Motion: Phase Oscillator,2014

5. Limit Cycles to Enhance Human Performance Based on Phase Oscillators;ASME J. Mech. Rob.,2015

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