Exploiting 3D printing technology to develop robotic running foot for footwear testing

Nguyen, Tat Luat; Allen, Samuel J.; Phee, Soo Jay

doi:10.1080/17452759.2013.862008

Cited by 8 publications

(11 citation statements)

References 32 publications

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“…The basic ideas of the RRF for footwear testing were introduced in the authors' previous papers. [15][16][17] The robotic foot consists of two powered joints at the ankle and metatarsophalangeal (MTP) joints. Each joint is actuated by a pair of CCMs.…”

Section: New Design Of the Robotic Foot For Footwear Testingmentioning

confidence: 99%

“…h j j4H); and denote b u i ,b, andĤ as the estimates of parameters u i , b, and H; their corresponding estimated errors are e u i = u i À b u i ,b = b Àb, andH = H ÀĤ. Then, the control and update laws can be designed as follows in equations (15) and (16)…”

Section: Pid Control Designmentioning

confidence: 99%

“…Nevertheless, these devices were not able to realistically replicate the interaction between the foot and the shoe in running because they all employed fixed prosthetic feet with no active degree of freedom (DOF) for wearing the testing shoe. This article introduces a new design of the robotic running foot (RRF) for footwear testing, [15][16][17] which has potential to mimic human running gaits.…”

Section: Introductionmentioning

confidence: 99%

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Position tracking control in torque mode for a robotic running foot for footwear testing

Luân

Allen

Louis

2018

Proceedings of the Institution of Mechanical Engineers, Part P:

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Available automatic footwear testing systems still lack flexibility and bio-fidelity to represent the human foot and reproduce the wear conditions accurately. The first part of this paper introduces a new design of the robotic running foot (RRF) for footwear testing using cable conduit mechanisms (CCMs). This RRF is integrated with an upper leg mechanism to form a complete integrated footwear testing system (IFTS). The CCMs help remove the bulky actuators and transmissions out of the fast-moving robotic foot. Thus, this RRF design not only allows high-power actuators to be installed, but also avoids a significant dynamic mass and inertia effects on the upper leg mechanism. This means that the IFTS can have multiple powered degrees of freedom (DOFs) in the RRF and simulate much higher human running speeds than other available systems. However, CCMs cause significant challenges in control approaches, especially in high-speed systems, due to their nonlinear transmission characteristics. Furthermore, the RRF actuators must operate in a torque/force control mode to reproduce the foot-shoe interaction during gaits while it is critical to control the foot joints position in the swing phase of gaits. The latter part of this paper presents a study on position tracking control in torque mode for the RRF joints using adaptive and PID (Proportional-Integral-Derivative) control designs to evaluate the system's ability to mimic the human foot kinematics in running. Both controllers proved their effectiveness, implying that the proposed control approach can be implemented on the IFTS to control the foot joints' position in the swing phase of running gaits.

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Section: New Design Of the Robotic Foot For Footwear Testingmentioning

confidence: 99%

Section: Pid Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Position tracking control in torque mode for a robotic running foot for footwear testing

Luân

Allen

Louis

2018

Proceedings of the Institution of Mechanical Engineers, Part P:

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“…They are also very suitable for those applications which require high payload, compact design, and small weight and inertia such as for rehabilitation [10], exoskeletons [11,12], and ankle-foot prosthesis [13]. Utilizing these advantages, Nguyen et al [14,15] adopted the CCMs to develop a robotic foot for footwear testing.…”

Section: Introductionmentioning

confidence: 99%

Direct torque control for cable conduit mechanisms for the robotic foot for footwear testing

2018

Self Cite

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As the shoe durability is affected directly by the dynamic force/pressure between the shoe and its working environments (i.e., the contact ground and the human foot), a footwear testing system should replicate correctly this interaction force profile during gait cycles. Thus, in developing a robotic foot for footwear testing, it is important to power multiple foot joints and to control their output torque to produce correct dynamic effects on footwear. The cable conduit mechanism (CCM) offers great advantages for designing this robotic foot. It not only eliminates the cumbersome actuators and significant inertial effects from the fastmoving robotic foot but also allows a large amount of energy/force to be transmitted/propagated to the compact robotic foot. However, CCMs cause nonlinearities and hysteresis effects to the system performance. Recent studies on CCMs and hysteresis systems mostly addressed the position control. This paper introduces a new approach for modeling the torque transmission and controlling the output torque of a pair of CCMs, which are used to actuate the robotic foot for footwear testing. The proximal torque is used as the input signal for the Bouc-Wen hysteresis model to portray the torque transmission profile while a new robust adaptive control scheme is developed to online estimate and compensate for the nonlinearities and hysteresis effects. Both theoretical proof of stability and experimental validation of the new torque controller have been carried out and reported in this paper. Control experiments of other closed-loop control algorithms have been also conducted to compare their performance with the new controller effectiveness. Qualitative and quantitative results show that the new control approach significantly enhances the torque tracking performance for the system preceded by CCMs.

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“…This is mainly because the ankle joint produces substantially more work than other joints of the lower limb, in a burst late in the push-off phase [ 25 ]. However, the MTP joints actually have the largest range of motion among the other joints of the foot except for the ankle joint [ 26 ] and play important roles in human locomotion. Functional restriction or loss of MTP joints leads to lower walking speed, smaller step length, and more consumed metabolic energy compared with normal walking [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Wearable Powered Foot Orthosis with Metatarsophalangeal Joint

Liu

Zang

Zhang

et al. 2018

Applied Bionics and Biomechanics

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The metatarsophalangeal (MTP) joints play critical roles in human locomotion. Functional restriction or loss of MTP joints will lead to lower walking speed, poorer walking balance, and more consumed metabolic energy cost compared with normal walking. However, existing foot orthoses are focused on maintaining the movement of the ankle joint, without assisting the MTP joints. In this paper, in order to improve the walking performance of people with lower limb impairments, a wearable powered foot orthosis (WPFO) which has actuated MTP joint is designed and constructed. Preliminary experiments on three nondisabled subjects demonstrated functionality and capabilities of the WPFO to provide correctly timed dorsiflexion and plantar flexion assistance at the MTP joint during walking. These results also suggest that the WPFO could offer promise in certain rehabilitation applications and clinical treatment.

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Exploiting 3D printing technology to develop robotic running foot for footwear testing

Cited by 8 publications

References 32 publications

Position tracking control in torque mode for a robotic running foot for footwear testing

Position tracking control in torque mode for a robotic running foot for footwear testing

Direct torque control for cable conduit mechanisms for the robotic foot for footwear testing

Design and Evaluation of a Wearable Powered Foot Orthosis with Metatarsophalangeal Joint

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