The control of recycling energy strorage capacity for WalkMECHadapt

Ramazan Ünal, F. Klijnstra, Sebastiaan Maria Behrens, Edsko E.G. Hekman, Stefano Stramigioli, Hubertus F.J.M. Koopman, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Abstract

    In this study, we present the implementation of the controller for adapting the energy storage capacity of the WalkMECH according to the different walking speeds and gait characteristics of an amputee. Since the main aim is to keep the design both mechanically and metabolically energy-efficient, the actuation system is designed based on the minimal actuation principle. The overall system, called WalkMECHadapt, is evaluated with the experimental test set-up with a healthy subject. Test results show that the system is working sufficiently for adapting the energy storage capacity of the WalkMECHadapt thanks to the simple nature of the controller architecture.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Symposium on Robot and Human Interactive Communication
    EditorsR, Loureiro, Y. Nagai
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages720-725
    Number of pages6
    ISBN (Print)978-1-4799-6763-6
    DOIs
    Publication statusPublished - Aug 2014
    Event2014 23rd IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2014 - Edinburgh, United Kingdom
    Duration: 25 Aug 201429 Aug 2014
    Conference number: 23

    Conference

    Conference2014 23rd IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2014
    Abbreviated titleRO-MAN
    CountryUnited Kingdom
    CityEdinburgh
    Period25/08/1429/08/14

    Keywords

    • METIS-306073
    • EWI-25184

    Cite this

    Ünal, R., Klijnstra, F., Behrens, S. M., Hekman, E. E. G., Stramigioli, S., Koopman, H. F. J. M., & Carloni, R. (2014). The control of recycling energy strorage capacity for WalkMECHadapt. In R. Loureiro, & Y. Nagai (Eds.), Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (pp. 720-725). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ROMAN.2014.6926338