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Human-Exoskeleton Interaction Force Estimation Based on Quasi-Direct Drive Actuators

Human-Exoskeleton Interaction Force Estimation Based on Quas...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Julian Seiler Niklas Schêfer Guoping Zhao Bastian Latsch Martin Grimmer Philipp Beckerle Mario Kupnik Measurement and Sensor Technology Group Technical University of Darmstadt Germany School of Mechanical Engineering Southeast University China Lauflabor Locomotion Laboratory Technical University of Darmstadt Germany Control and Cyber-Physical Systems Technical University of Darmstadt Germany Chair of Autonomous Systems and Mechatronics Friedrich-Alexander-Universität Erlangen Nurnberg Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Exoskeletons have emerged as a promising tech-nological solution to provide functional compensation, training support, physical enhancement, and rehabilitation for an aging population. High torque density and control bandwidth are essential for exoskeleton actuation. In addition, monitoring and control of human-exoskeleton interaction forces is essential for the effectiveness, safety, and comfort of exoskeletons. Quasi-direct drives (QDD) have the potential to address the actuation requirements by enabling proprioceptive actuation with low mechanical output impedance. We present a test bench system to identify and validate the system dynamics, including torque constant, inertia, and friction properties of the QDD Cube-Mars AK10-9 V1.1. The actuator is employed in a hip exoskeleton to evaluate open-loop torque tracking and interaction force estimation in an assisted gait scenario with one participant walking on a treadmill. The model estimates interaction forces with a mean absolute error (MAE) of 2.78±0.58N (6.4% of rated force output). Model-based open-loop control improves the torque tracking MAE by 23%. Our analysis indicates that considering the soft coupling between human and exoskeleton has the potential to further improve the torque tracking and interaction force estimation accuracy. Altogether, the findings demonstrate that QDD actuation enables backdrivability, re-liable force estimation and controllable assistance, thereby providing an effective solution for exoskeleton actuation.

关键词： Actuators Torque Accuracy Friction Exoskeletons Force Dynamics Estimation Impedance Hip

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Characterization and Operation of Graphene-Oxide-Semiconductor Emitters at Atmospheric Pressure Levels

Characterization and Operation of Graphene-Oxide-Semiconduct...

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International Conference on Vacuum Nanoelectronics (IVNC)

作者： Florian Herdl Maximillian J. Kueddelsmann Andreas Schels Michael Bachmann Simon Edler Dominik Wohlfartsstätter Felix Düsberg Alexander Prugger Michael Dillig Florian Dams Rupert Schreiner Cormac Ó Coileáin Stefan Zimmermann Andreas Pahlke Georg S. Duesberg Center for Integrated Sensor Systems University of the Bundeswehr Munich Institute of Physics Germany Leibniz University Hannover Institute of Electrical Engineering and Measurement Technology Germany KETEK GmbH Munich Germany Ostbayerische Technische Hochschule Regensburg Germany

In recent years Graphene-Oxide-Semiconductor (GOS) electron emitters have attracted a lot of interest due to their outstanding durability in modest vacuum conditions. However, the performance at ambient pressure remains largely unexplored. In this study GOS-emitters are characterized in nitrogen and air at atmospheric pressure, and compared with their vacuum characteristics. For this purpose, lifetime and IV-characteristics measurements are shown. Furthermore, the GOS-emitter was operated as an ionization source for ion mobility spectrometry (IMS) at ambient conditions.

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Parameters Estimation of Cole-Cole Bio-Impedance Model with a Minimum Number of Frequencies

Parameters Estimation of Cole-Cole Bio-Impedance Model with ...

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IEEE Instrumentation and measurement technology Conference

作者： Nour Ammar Cherif Ouni Ahmed Yahia Kallel Ahmed Fakhfakh Nabil Derbel Olfa Kanoun Measurement and Sensor Technology Faculty of Electrical Engineering and Information Technology Chemnitz University of Technology Chemnitz Germany Control and Energy Management Laboratory National Engineering School of Sfax University of Sfax Sfax Tunisia Laboratory of Signals Systems Artificial Intelligence and Networks Digital Research Centre of Sfax National School of Electronics and Telecommunications of Sfax Sfax Tunisia

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

Wearable bioimpedance devices are becoming increasingly popular due to their portability and non-invasiveness. However, these devices consume a lot of energy during measurement time, limiting the operating time. The number of frequencies must be reduced to reduce the measurement time and energy. In this paper, we propose using three frequencies and investigating their optimal values for accurate measurement. The remaining two frequencies at high frequencies are chosen by eliminating the high frequencies that have a high deviation. Lastly, a third frequency is optimally chosen based on a combination of the frequencies whose non-linear least-squares fitting parameters results lead to the smallest deviations. First, a simulation is used to validate the results, where a Cole-Cole model is used with different noise levels. Two high frequencies in combination with a frequency close to the characteristic frequency yielded the best results, regardless of the presence of noise. Second, the measurement was experimentally validated in STM32 with a physical Cole-Cole model, which confirmed the results, where 7.94 kHz, close to the characteristic frequency, had mean deviations of 2.43% in $R_{l}$ , 3.7% in $R_{E}$ , and 2.55% in C. Using three points reduces the measurement time from 9.7 ms to 0.41 ms.

关键词： Time-frequency analysis Accuracy Biological system modeling Fitting Energy measurement Time measurement Frequency estimation

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An Empirical Model for State of Charge Estimation Based on Electrochemical Impedance Spectroscopy

An Empirical Model for State of Charge Estimation Based on E...

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International Conference on Electrical systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)

作者： Khaled Ibrahim Silvester Sabathiel Farhan Farooq Günter Hofer Alexander Bergmann Rudolf Heer Electronic Sensors Silicon Austria Labs Graz University of Technology Graz Austria Collaborative Perception and Learning Silicon Austria Labs Graz Austria Electronic Sensors Silicon Austria Labs Graz Austria Infineon Technologies Graz Austria Institute of Electrical Measurement and Sensor Systems Graz University of Technology Graz Austria

ISBN: (数字)9798350373905

ISBN: (纸本)9798350373912

Electrochemical Impedance Spectroscopy (EIS) is an accurate method used to study the internal properties of lithium-ion (Li-ion) battery cells. It is important to accurately estimate the State of Charge (SoC) of Li-ion battery cells for safety and longevity considerations. There are several methods to estimate the SoC; however, accurate methods require a lot of computational resources and increase the system complexity. This paper proposes an EIS-based experimental method for SoC estimation based on calculating the area under the EIS magnitude vs. frequency curve and correlating the result with SoC. The results demonstrate a relationship between the EIS magnitude and the SoCs within a certain range and under specific conditions. Furthermore, the suggested method reduces the errors and eliminates the need for fitting the EIS impedance spectrum for SoC estimation.

关键词： Temperature measurement Lithium-ion batteries Accuracy Impedance measurement Fitting Estimation Frequency measurement State of charge Impedance Electrochemical impedance spectroscopy

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Photothermal trace gas measurement with a compact fiber-coupled Fabry–Pérot interferometer

Photothermal trace gas measurement with a compact fiber-coup...

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Optics and Photonics for Sensing the Environment, ES 2020 - Part of Optical sensors and Sensing Congress 2020

作者： Breitegger, Philipp Lang, Benjamin Bergmann, Alexander Institute of Electrical Measurement and Sensor Systems Graz University of Technology Inffeldgasse 10/II Graz8010 Austria

sensors for the reliable measurement of trace gases are of high interest. A compact and robust fiber-coupled Fabry–Pérot interferometer is employed in photothermal spectroscopy to measure nitrogen dioxide concen... 详细信息

ISBN: (纸本)9781557528209

关键词： Gases

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Low Creep 3D-Printed Piezoresistive Force sensor for Structural Integration

Low Creep 3D-Printed Piezoresistive Force Sensor for Structu...

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IEEE sensorS

作者： Bastian Latsch Omar Ben Dali Romol Chadda Niklas Schäfer Alexander A. Altmann Martin Grimmer Philipp Beckerle Mario Kupnik Measurement and Sensor Technology Group Technical University of Darmstadt Germany Locomotion Laboratory Institute of Sports Science Technical University of Darmstadt Germany Chair of Autonomous Systems and Mechatronics Friedrich-Alexander-Universität Erlangen-Nürnberg Germany

Attempts in research to equip robotic end-effectors with tactile sensing facilitate an advanced environment perception and provide the means for dexterous interaction. Sensing at the fingertips can be realized using force sensors. In this work, we present an additively manufactured universal force-sensor offering structural integration to accomplish fast adaptation to application-specific needs. The piezoresistive sensor consists of commercially available conductive polylactic acid (PLA). Its geometry is based on rigid PLA spring elements to overcome the inherent limitations of elastomers. A curved shape increases the length of the deformation element, thus, the sensitivity, while retaining the flexibility necessary to allow for a displacement-induced change of the electrical resistance. The sensor features an additional integrated spring, which enables the adaptation of the mechanical stiffness and therefore of the measurement range. We use thread-forming screws to achieve a robust and enduring electrical connection between wires and the conductive polymer. The characterization of the sensor takes place in a universal testing machine with an applied load up to 5 N. The resistance measured gives a nearly linear characteristic and is proportional to the displacement. We obtain a sensitivity of 6.5 Ohm/N and a relative change of resistance of 6%. Low creep (0.12%) during phases with constant load reveals an advanced geometry-induced mechanical behavior. Thus, our printed piezoresistive PLA sensor demonstrates the suitability of conductive rigid materials for their tailored application as force sensors in robotics.

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Heterogeneous Anchor Nodes Deployment in Large Scale Outdoor Application for Wireless sensor Networks

Heterogeneous Anchor Nodes Deployment in Large Scale Outdoor...

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IEEE International Workshop on Enabling Technologies: Infrastructure for Collaborative Enterprises (WET ICE)

作者： Marwa Afnouch Dhouha El Houssaini Olfa Gaddour Olfa Kanoun Computer and Embedded Systems University of Sfax ENIS Tunisia Measurement and Sensor Technology Chemnitz University of Technology Germany

ISBN: (纸本)9781665427906

Wireless sensor Networks (WSNs) are getting more interest from industrialists as well as from researchers thanks to their low cost, low power and multi-functionality. However, their performance is greatly dependent on the process of sensor nodes' deployment. Thus, an efficient and deterministic deployment technique is needed to enhance the performance of the network. In this paper, a new deployment strategy, that we named HANDLS, is proposed based on hexagonal distribution. The proposed approach considers the coverage probability as well as the number of nodes. Simulation results show that the proposed approach outperforms available deployment techniques mainly in maximizing the network coverage and the nodes' connectivity, while minimizing the number of deployed nodes.

关键词： Wireless sensor networks Costs Shape Simulation Conferences Collaboration Internet of Things

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Detection of an Approximately Periodic Sequence of Pulses for Acoustic Condition Monitoring

Detection of an Approximately Periodic Sequence of Pulses fo...

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European Signal Processing Conference (EUSIPCO)

作者： J. Lindenberger C. Pichler S. Schuster O. Lang M. Neumayer A. Haberl C. Staudinger B. Lehner C. Feilmayr H. Wegleiter M. Huemer Silicon Austria Labs GmbH Linz Austria Institute of Electrical Measurement and Sensor Systems Graz University of Technology Graz Austria voestalpine Stahl GmbH Linz Austria Institute of Signal Processing Johannes Kepler University Linz Austria K1-MET GmbH Linz Austria

ISBN: (数字)9789464593617

ISBN: (纸本)9798331519773

Acoustic condition monitoring is a cost-effective approach to maintain proper machine operation. Defective machines often generate knocking sounds, e.g., due to loose metal parts, which can be modelled as an approximately periodic sequence of acoustic pulses. Based on a signal model for these sequential pulses, we derive a z-transform-based maximum a posteriori ratio test (MAPRT) detector that reliably detects such knocking noises. The proposed detector is tested with measurement data showing that it is more robust than the commonly used generalized likelihood ratio test (GLRT) pitch detector. Furthermore, the proposed MAPRT detector can be implemented efficiently using the chirp z-transform.

关键词： Condition monitoring Chirp Noise Metals Europe Detectors Computational efficiency Reliability Monitoring Periodic structures

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Improved Particle Swarm Optimization Algorithm for EIT Image Reconstruction

Improved Particle Swarm Optimization Algorithm for EIT Image...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Oumayma Kahouli Mariem Hafsa Hiba Hellara Imed Eddine Bennour Najoua Essoukri Ben Amara Olfa Kanoun Department of Computer Science National Engineering School of Sousse University of Sousse Sousse Tunisia Laboratory of Advanced Technology and Intelligent Systems National Engineering School of Sousse Laboratory of Measurement and Sensor Technology Technische Universität Chemnitz Chemnitz Germany Laboratory of Signals Systems Artificial Intelligence and Networks Digital Research Center of Sfax University of Sfax Tunisia

Electrical Impedance Tomography (EIT) is a clinical imaging technique that gained a lot of attention because it is a non-invasive and radiation-free method. To obtain an inner image of the domain under study, a specific number of electrodes is attached to the surface of the object, then through a pair of electrodes, a low alternative current is injected. Potentials produced by this injection are measured with the remaining electrodes. Based on these boundary voltages measurements, the inner conductivity can be inferred, thus the image is reconstructed. The focus of this paper is to overcome the major weakness of the EIT image reconstruction technique, which is the low spatial resolution of the reconstructed images caused by the non-linearity of EIT inverse problem. This paper considers this problem, an optimization problem that is solved using the Particle Swarm Optimization (PSO) meta-heuristic. A variant of the standard PSO is proposed and validated, first on a circular mesh composed of 686 triangles then on a lung mesh composed of 2707 triangles.

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3D Geometry Design of the Human Thorax and Forward Calculation for Electrical Impedance Tomography

3D Geometry Design of the Human Thorax and Forward Calculati...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Youssef Alwaz Oumaima Bader Najoua Essoukri Ben Amara Olfa Kanoun National Engineering School of Sousse University of Sousse Sousse Tunisia Ecole Nationale d’Ingénieurs de Sousse LATIS- Laboratory of Advanced Technology and Intelligent Systems Université de Sousse Sousse Tunisie Professorship Measurement and Sensor Technology Technische Universität Chemnitz Chemnitz Germany

Electrical Impedance Tomography (EIT) for lung monitoring reflects the internal conductivity distribution of human tissues based on the boundary voltages that are measured through given electrodes. The electrodes are placed around the human chest. A low-amplitude current is injected through driving electrodes, and the boundary voltages are measured through other electrodes. In this context, this work has elaborated a strategy for the design of a 3D geometry of the human thorax based on sequential Computed Tomography (CT) scans. This geometry will be used for the simulation and analysis of the EIT measurement. Image segmentation has been used to extract the contour within different layers of the CT scans to form the final 3D geometry of the chest containing the lungs and the thorax. The generated geometry was later meshed and repaired. Mesh properties were controlled through the Skewness quality metric. A multi-layered design has been elaborated to mimic different human chest layers such as body fluid, muscle, and skin resulting in three models. These models had given the accuracy of 62%, 63%, and 65% of skewed elements relative to the existing volume. Later on, the electrodes were placed on the thorax geometry for EIT forward simulation, and the effect of the multi-layered model has been investigated.

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