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

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 article introduces a new design of the robotic running foot for footwear testing using cable conduit mechanisms. This...

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Main Authors:	Thanh L., Sam Allen, Soo J. Phee
Format:	Default Article
Published:	2018
Subjects:	Other health sciences not elsewhere classified Footwear testing Robotic running foot Cable conduit mechanism Torque mode control Position control Medical and Health Sciences not elsewhere classified
Online Access:	https://hdl.handle.net/2134/33796
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id	rr-article-9625589
record_format	Figshare
spelling	rr-article-96255892018-04-24T00:00:00Z Position tracking control in torque mode for a robotic running foot for footwear testing Thanh L. (Ryan) Nguyen (7237367) Sam Allen (1247760) Soo J. Phee (7245488) Other health sciences not elsewhere classified Footwear testing Robotic running foot Cable conduit mechanism Torque mode control Position control Medical and Health Sciences not elsewhere classified 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 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. 2018-04-24T00:00:00Z Text Journal contribution 2134/33796 https://figshare.com/articles/journal_contribution/Position_tracking_control_in_torque_mode_for_a_robotic_running_foot_for_footwear_testing/9625589 CC BY-NC-ND 4.0
institution	Loughborough University
collection	Figshare
topic	Other health sciences not elsewhere classified Footwear testing Robotic running foot Cable conduit mechanism Torque mode control Position control Medical and Health Sciences not elsewhere classified
spellingShingle	Other health sciences not elsewhere classified Footwear testing Robotic running foot Cable conduit mechanism Torque mode control Position control Medical and Health Sciences not elsewhere classified Thanh L. Sam Allen Soo J. Phee Position tracking control in torque mode for a robotic running foot for footwear testing
description	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 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.
format	Default Article
author	Thanh L. Sam Allen Soo J. Phee
author_facet	Thanh L. Sam Allen Soo J. Phee
author_sort	Thanh L. (Ryan) Nguyen (7237367)
title	Position tracking control in torque mode for a robotic running foot for footwear testing
title_short	Position tracking control in torque mode for a robotic running foot for footwear testing
title_full	Position tracking control in torque mode for a robotic running foot for footwear testing
title_fullStr	Position tracking control in torque mode for a robotic running foot for footwear testing
title_full_unstemmed	Position tracking control in torque mode for a robotic running foot for footwear testing
title_sort	position tracking control in torque mode for a robotic running foot for footwear testing
publishDate	2018
url	https://hdl.handle.net/2134/33796
_version_	1797280741154881536

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

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