Locally weighted learning model predictivek control for elastic joint robots

This paper proposes an efficient and online learning control system that uses the successful Model Predictive Control (MPC) method in a model based locally weighted learning framework. The new approach named Locally Weighted Learning Model Predictive Control (LWL-MPC) has been proposed as a solution to learn to control complex and nonlinear Elastic Joint Robots (EJR). Elastic Joint Robots are generally difficult to learn to control due to their elastic properties preventing standard model learning techniques from being used, such as learning computed torque control. This paper demonstrates the capability of LWL-MPC to perform online and incremental learning while controlling the joint positions of a real three Degree of Freedom (DoF) EJR. An experiment on a real EJR is presented and LWL-MPC is shown to successfully learn to control the system to follow two different figure of eight trajectories.

A novel energy efficient controllable stiffness joint

Achieving energy efficient legged locomotion is an important goal for the future of robot mobility. This paper presents a novel joint for legged locomotion that is energy efficient for two reasons. The first reason is the configuration of the elastic elements and actuator which we show analytically has lower energy losses than the typical arrangement. The second is that the joint stiffness, and hence stance duration, is controllable without requiring any energy from the actuator. Further, the joint stiffness can be changed significantly during the flight phase, from zero to highly rigid. Results obtained from a prototype hopper, demonstrate that the joint allows continuous and peak hopping via torque control. The results also demonstrate that the hopping frequency can be varied between 2.2Hz and 4.6Hz with associated stance duration of between 0.35 and 0.15 seconds.

Neuromuscular-skeletal constraints on the acquisition of skill in a discrete torque production task

The organisation of the human neuromuscular-skeletal system allows an extremely wide variety of actions to be performed, often with great dexterity. Adaptations associated with skill acquisition occur at all levels of the neuromuscular-skeletal system although all neural adaptations are inevitably constrained by the organisation of the actuating apparatus (muscles and bones). We quantified the extent to which skill acquisition in an isometric task set is influenced by the mechanical properties of the muscles used to produce the required actions. Initial performance was greatly dependent upon the specific combination of torques required in each variant of the experimental task. Five consecutive days of practice improved the performance to a similar degree across eight actions despite differences in the torques required about the elbow and forearm. The proportional improvement in performance was also similar when the actions were performed at either 20 or 40% of participants' maximum voluntary torque capacity. The skill acquired during practice was successfully extrapolated to variants of the task requiring more torque than that required during practice. We conclude that while the extent to which skill can be acquired in isometric actions is independent of the specific combination of joint torques required for target acquisition, the nature of the kinetic adaptations leading to the performance improvement in isometric actions is influenced by the neural and mechanical properties of the actuating muscles.

Design and Control of a Closed-Loop Brushless Torque Actuator

This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to determine dynamic characteristics. A reaction torque sensor fixed to the motor stator was implemented to decouple the transmission dynamics from the sensor. This resulted in a compact actuator with higher bandwidth and precision than could be obtained with an inline or joint sensor. Testing demonstrated that closed-loop torque accuracy was within 0.1%, and the mechanical bandwidth approached 300 Hz.

Effect of repeated torque/mechanical loading cycles on two different abutment types in implants with internal tapered connections: an in vitro study

Internal tapered connections were developed to improve biomechanical properties and to reduce mechanical problems found in other implant connection systems. The purpose of this study was to evaluate the effects of mechanical loading and repeated insertion/removal cycles on the torque loss of abutments with internal tapered connections. Sixty-eight conical implants and 68 abutments of two types were used. They were divided into four groups: groups 1 and 3 received solid abutments, and groups 2 and 4 received two-piece abutments. In groups 1 and 2, abutments were simply installed and uninstalled; torque-in and torque-out values were measured. In groups 3 and 4, abutments were installed, mechanically loaded and uninstalled; torque-in and torque-out values were measured. Under mechanical loading, two-piece abutments were frictionally locked into the implant; thus, data of group 4 were catalogued under two subgroups (4a: torque-out value necessary to loosen the fixation screw; 4b: torque-out value necessary to remove the abutment from the implant). Ten insertion/removal cycles were performed for every implant/abutment assembly. Data were analyzed with a mixed linear model (P <= 0.05). Torque loss was higher in groups 4a and 2 (over 30% loss), followed by group 1 (10.5% loss), group 3 (5.4% loss) and group 4b (39% torque gain). All the results were significantly different. As the number of insertion/removal cycles increased, removal torques tended to be lower. It was concluded that mechanical loading increased removal torque of loaded abutments in comparison with unloaded abutments, and removal torque values tended to decrease as the number of insertion/removal cycles increased. To cite this article:Ricciardi Coppede A, de Mattos MdaGC, Rodrigues RCS, Ribeiro RF. Effect of repeated torque/mechanical loading cycles on two different abutment types in implants with internal tapered connections: an in vitro study.Clin. Oral Impl. Res. 20, 2009; 624-632.doi: 10.1111/j.1600-0501.2008.01690.x.

Preload Evaluation of Different Screws in External Hexagon Joint

Purpose: This study compared the maintenance of tightening torque in different retention screw types of implant-supported crowns.Materials and Methods: Twelve metallic crowns in UCLA abutments cast with cobalt-chromium alloy were attached to external hexagon osseointegrated implants with different retention screws: group A: titanium alloy retention screw; group B: gold alloy retention screw with gold coating; group C: titanium alloy retention screw with diamond-like carbon film coating; and group D: titanium alloy retention screw with aluminum titanium nitride coating. Three detorque measurements were obtained after torque insertion in each replica. Data were evaluated by analysis of variance (ANOVA), Tukey's test (P < 0.05), and t test (P < 0.05).Results: Detorque value reduced in all groups (P < 0.05). Group A retained the highest percentage of torque in comparison with the other groups (P < 0.05). Groups B and D retained the lowest percentage of torque without statistically significant difference between them (P < 0.05).Conclusions: All screw types exhibited reduction in the detorque value. The titanium screw maintained the highest percentage of torque whereas the gold-coated screw and the titanium screw with aluminum titanium nitride coating retained the lowest percentage. (Implant Dent 2012;21:46-50)

Effect of Vertical Misfit on Screw Joint Stability of Implant-Supported Crowns

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Heavy-intensity aerobic exercise affects the isokinetic torque and functional but not conventional hamstrings:quadriceps ratios

Running exercises are frequently related to muscular injuries, which may be a result of muscular imbalance. The present study aimed to verify the effects of heavy-intensity continuous running exercise on the functional and conventional hamstrings: quadriceps ratios, and also in the knee flexors and extensors EMG activity in active non-athletic individuals. Sixteen active males performed maximal isokinetic concentric and eccentric knee flexions and extensions at 60 degrees s(-1) and 180 degrees s(-1). In another session, the same procedure was conducted after a continuous running exercise at 95% onset of blood lactate accumulation. Torque and electromyographic ratios were calculated from peak torque and integrated electromyographic activity (knee flexor and extensors). Creatine kinase was measured before and 24 h after running exercise. Eccentric torque (knee flexion and extension) decreased significantly after running only at 180 degrees s(-1) (p < 0.05). No differences were found for the conventional torque ratios (p > 0.05), however, the functional torque ratios at 180 degrees s(-1) decreased significantly after running (p < 0.05). No effects on the electromyographic activity and electronnyographic ratios were found (p > 0.05). Creatine kinase increased slightly 24 h after running (p < 0.05). Heavy-intensity continuous running exercise decreased knee flexor and extensor eccentric torque, and functional torque ratios under fast velocities (180 degrees s(-1)), probably as result of peripheral fatigue. (C) 2008 Elsevier Ltd. All rights reserved.

Load torque estimation in induction motors using artificial neural networks

The induction motors are largely used in several industry sectors. The dimensioning of an induction motor has still been inaccurate because in most of the cases the load behavior in its shaft is completely unknown. The proposal of this paper is to use artificial neural networks as tool for dimensioning of induction motors rather than conventional methods, which use classical identification techniques and mechanical load modeling. Simulation results are also presented to validate the proposed approach.

Maximal isokinetic peak torque and EMG activity determined by shorter ranges of motion

Purpose. Isokinetic tests are often applied to assess muscular strength and EMG activity, however the specific ranges of motion used in testing (fully flexed or extended positions) might be constrictive and/or be painful for patients with injuries or under-going rehabilitation. The aim of this study was to examine the effects of different ranges of motion (RoM) when determining maximal EMG during isokinetic knee flexion and extension with different types of contractions and velocities. Methods. Eighteen males had EMG activity recorded on the vastus lateralis, vastus medialis, semitendinosus and biceps femoris muscles during five maximal isokinetic concentric and eccentric contractions for the knee flexors and extensors at 60° • s -1 and 180° • s -1. The root mean square of EMG was calculated at three different ranges of motion: (1) a full range of motion (90°-20° [0° = full knee extension]); (2) a range of motion of 20° (between 60°-80° and 40°-60° for knee extension and flexion, respectively) and (3) at a 10° interval around the angle where peak torque is produced. EMG measurements were statistically analyzed (ANOVA) to test for the range of motion, contraction velocity and contraction speed effects. Coefficients of variation and Pearson's correlation coefficients were also calculated among the ranges of motion. Results. Predominantly similar (p > 0.05) and well-correlated EMG results (r > 0.7, p ≤ 0.001) were found among the ranges of motion. However, a lower coefficient of variation was found for the full range of motion, while the 10° interval around peak torque at 180° • s -1 had the highest coefficient, regardless of the type of contraction. Conclusions. Shorter ranges of motion at around the peak torque angle provides a reliable indicator when recording EMG activity during maximal isokinetic parameters. It may provide a safer alternative when testing patients with injuries or undergoing rehabilitation.

Flexibility, torque and kick performance in soccer: Effect of dominance

Aim: The aim of this study was to evaluate the knee flexor and extensor torques in isometric contractions, comparing the H:Q ratios, flexibility and maximal kick between dominant (DL) and non-dominant (NDL) limb of soccer players (SG) and active people (AG)Methods: Subjects performed maximal instep kicks with each limb, flexibility tests and maximal isometric voluntary contractions of the knee flexion and extension at 45° and 90° to determine peak torque of the DL and NDLKnee flexion torque was divided by the knee extension torque to calculate torque ratios (H:Q ratio)Results: The flexibility and maximal kick in SG was significantly higher than in AG for both the DL and NDL (P<0.05)The maximal kick of DL was significantly higher than in NDL in SG (P<0.01)Knee flexion torque in SG was significantly higher than in AG in the DL (P<0.05), and the H:Q ratio was similar between AG and SGConclusion: Dominance related differences were evident in the flexor torque and maximal kick for SG, probably related to the asymmetric demand in trainings, which present no effect on the flexibility© 2013 Elsevier Masson SAS.

Medida de torque na articulação do joelho através de dinamômetro isométrico de baixo custo

Pós-graduação em Engenharia Mecânica - FEG

Mensuração do torque nos movimento de flexão e extensão do joelho submetido a uma resistência: Fabricio Duarte de Almeida. -

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Moderate intensity and volume downhill run does not impair knee joint stability at early and late phases of quadriceps/hamstrings contraction

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Preload Evaluation of Different Screws in External Hexagon Joint

Purpose: This study compared the maintenance of tightening torque in different retention screw types of implant-supported crowns. Materials and Methods: Twelve metallic crowns in UCLA abutments cast with cobalt-chromium alloy were attached to external hexagon osseointegrated implants with different retention screws: group A: titanium alloy retention screw; group B: gold alloy retention screw with gold coating; group C: titanium alloy retention screw with diamond-like carbon film coating; and group D: titanium alloy retention screw with aluminum titanium nitride coating. Three detorque measurements were obtained after torque insertion in each replica. Data were evaluated by analysis of variance (ANOVA), Tukey's test (P < 0.05), and t test (P < 0.05). Results: Detorque value reduced in all groups (P < 0.05). Group A retained the highest percentage of torque in comparison with the other groups (P < 0.05). Groups B and D retained the lowest percentage of torque without statistically significant difference between them (P < 0.05). Conclusions: All screw types exhibited reduction in the detorque value. The titanium screw maintained the highest percentage of torque whereas the gold-coated screw and the titanium screw with aluminum titanium nitride coating retained the lowest percentage. (Implant Dent 2012;21:46-50)