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Position tracking control in torque mode for a robotic running foot for footwear testing
journal contribution
posted on 2018-07-09, 11:16 authored by Thanh L. (Ryan) Nguyen, Sam AllenSam Allen, Soo J. PheeAvailable 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 article introduces a new design of the robotic running foot for footwear testing using cable conduit mechanisms. This robotic running foot is integrated with an upper leg mechanism to form a complete integrated footwear testing system. The cable conduit mechanisms help remove the bulky actuators and transmissions out of the fast-moving robotic foot. Thus, this robotic running foot 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 integrated footwear testing system can have multiple powered degrees of freedom in the robotic running foot and simulate much higher human running speeds than other available systems. However, cable conduit mechanisms cause significant challenges in control approaches, especially in high-speed systems, due to their nonlinear transmission characteristics. Furthermore, the robotic running foot 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 article presents a study on position tracking control in torque mode for the robotic running foot joints using adaptive and 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 integrated footwear testing system to control the foot joints’ position in the swing phase of running gaits.
Funding
This project was supported by the Institute for Sports Research, Nanyang Technological University, Singapore.
History
School
- Sport, Exercise and Health Sciences
Published in
Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and TechnologyVolume
233Issue
3Pages
351-361Citation
NGUYEN, T.L., ALLEN, S.J. and PHEE, S.J., 2018. Position tracking control in torque mode for a robotic running foot for footwear testing. Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology, doi:10.1177/1754337118768323.Publisher
SAGE Publications © IMechEVersion
- AM (Accepted Manuscript)
Rights holder
© IMechEPublisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Acceptance date
2018-02-14Publication date
2018-04-24Copyright date
2019Notes
This paper was published in the journal Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology and the definitive published version is available at https://doi.org/10.1177/1754337118768323.ISSN
1754-3371eISSN
1754-338XPublisher version
Language
- en