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Proceedings Papers

Optimal Realization of Endpoint Stiffness in Static Human Arm Postures

Kamran Iqbal
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T08A004, October 5–7, 2020
Paper No: DSCC2020-3269
https://doi.org/10.1115/DSCC2020-3269
View Paper titled, Optimal Realization of Endpoint Stiffness in Static Human Arm Postures
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Topics: Linear programming, Muscle, Stiffness
Proceedings Papers

An Ultrasound Imaging Based Observer for Estimating NMES-Induced Muscle Fatigue: Theory and Simulation

Zhiyu Sheng, Kang Kim, Nitin Sharma
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T14A002, October 5–7, 2020
Paper No: DSCC2020-3196
https://doi.org/10.1115/DSCC2020-3196
View Paper titled, An Ultrasound Imaging Based Observer for Estimating NMES-Induced Muscle Fatigue: Theory and Simulation
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Topics: Fatigue, Muscle, Neuromuscular stimulation, Simulation, State estimation, Ultrasonic imaging
Proceedings Papers

Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation

Qiang Zhang, Ashwin Iyer, Ziyue Sun, Albert Dodson, Nitin Sharma
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T14A003, October 5–7, 2020
Paper No: DSCC2020-3225
https://doi.org/10.1115/DSCC2020-3225
View Paper titled, Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation
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Topics: Delays, Diseases, Dynamics (Mechanics), Errors, Exoskeleton devices, Imaging, Muscle, Nervous system, Simulation results, Stability
Proceedings Papers

Adaptive Trajectory Tracking During Motorized and FES-Induced Biceps Curls via Integral Concurrent Learning

Brendon C. Allen, Kimberly J. Stubbs, Warren E. Dixon
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T17A001, October 5–7, 2020
Paper No: DSCC2020-3125
https://doi.org/10.1115/DSCC2020-3125
View Paper titled, Adaptive Trajectory Tracking During Motorized and FES-Induced Biceps Curls via Integral Concurrent Learning
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Topics: Trajectories (Physics), Control equipment, Dynamics (Mechanics), Errors, Muscle, Engines, Feedback, Feedforward control, Machinery, Motors
Proceedings Papers

Teleoperated Motorized Functional Electric Stimulation Actuated Rehabilitative Cycling

Kimberly J. Stubbs, Brendon C. Allen, Warren E. Dixon
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T17A002, October 5–7, 2020
Paper No: DSCC2020-3131
https://doi.org/10.1115/DSCC2020-3131
View Paper titled, Teleoperated Motorized Functional Electric Stimulation Actuated Rehabilitative Cycling
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Topics: Cycles, Engines, Fatigue, Motors, Muscle, Nervous system, Plasticity, Rotation, Stability
Proceedings Papers

Motorized and Functional Electrical Stimulation Induced Cycling via Switched Adaptive Concurrent Learning Control

Jonathan Casas, Chen-Hao Chang, Victor H. Duenas
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T17A005, October 5–7, 2020
Paper No: DSCC2020-3311
https://doi.org/10.1115/DSCC2020-3311
View Paper titled, Motorized and Functional Electrical Stimulation Induced Cycling via Switched Adaptive Concurrent Learning Control
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Topics: Control equipment, Cycles, Design, Electric motors, Excitation, Muscle, Parameter estimation, Stability
Proceedings Papers

The Effect of Wing-Motor Connection Mechanism on the Payload Capacity of Flapping Flight Hovering Robots

Victoria Pellerito, Hamid Vejdani
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T25A006, October 8–11, 2019
Paper No: DSCC2019-9203
https://doi.org/10.1115/DSCC2019-9203
View Paper titled, The Effect of Wing-Motor Connection Mechanism on the Payload Capacity of Flapping Flight Hovering Robots
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Topics: Engines, Flight, Motors, Robots, Wings, Springs, Inertia (Mechanics), Muscle, Resonance, Tendons
Proceedings Papers

The Effects of Nylon Polymer Threads on Strain-Loading Hysteresis Behavior of Supercoiled Polymer (SCP) Artificial Muscles

Revanth Konda, Jun Zhang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A008, October 8–11, 2019
Paper No: DSCC2019-9169
https://doi.org/10.1115/DSCC2019-9169
View Paper titled, The Effects of Nylon Polymer Threads on Strain-Loading Hysteresis Behavior of Supercoiled Polymer (SCP) Artificial Muscles
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Topics: Muscle, Nylon fabrics, Polymers, Screw threads, Thread, Actuators, Nylon yarns, Physics, Springs, Stiffness
Proceedings Papers

Cadence Tracking for Switched FES-Cycling With Unknown Time-Varying Input Delay

Brendon C. Allen, Christian A. Cousin, Courtney A. Rouse, Warren E. Dixon
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A006, October 8–11, 2019
Paper No: DSCC2019-9078
https://doi.org/10.1115/DSCC2019-9078
View Paper titled, Cadence Tracking for Switched FES-Cycling With Unknown Time-Varying Input Delay
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Topics: Delays, Muscle, Motor controls, Nonlinear dynamical systems
Proceedings Papers

Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation

Jiaoying Jiang, Guangzhou Hu, Kok-Meng Lee
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A011, October 8–11, 2019
Paper No: DSCC2019-9207
https://doi.org/10.1115/DSCC2019-9207
View Paper titled, Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation
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Topics: Dynamic models, Kinematics, Robotics, Design, Dynamics (Mechanics), Engineering simulation, Gravity (Force), Muscle, Simulation
Proceedings Papers

Varying Motor Assistance During Biceps Curls Induced via Functional Electrical Stimulation

Courtney A. Rouse, Christian A. Cousin, Victor H. Duenas, Warren E. Dixon
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A007, September 30–October 3, 2018
Paper No: DSCC2018-9083
https://doi.org/10.1115/DSCC2018-9083
View Paper titled, Varying Motor Assistance During Biceps Curls Induced via Functional Electrical Stimulation
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Topics: Engines, Motors, Robots, Muscle, Nervous system, Stability, Trajectories (Physics), Control equipment, Patient treatment, Performance
Proceedings Papers

Design and Evaluation of a Proportional Myoelectric Controller for Hip Exoskeletons During Walking

Hsiang Hsu, Inseung Kang, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T13A005, September 30–October 3, 2018
Paper No: DSCC2018-9226
https://doi.org/10.1115/DSCC2018-9226
View Paper titled, Design and Evaluation of a Proportional Myoelectric Controller for Hip Exoskeletons During Walking
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Topics: Control equipment, Design, Exoskeleton devices, Torque, Electromyography, Actuators, Feedback, Kinematics, Muscle, Performance
Proceedings Papers

Foveation Control of a Robotic Eye Using Deep Reinforcement Learning

Sunil Kumar Rajendran, Qi Wei, Feitian Zhang
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A018, September 30–October 3, 2018
Paper No: DSCC2018-9209
https://doi.org/10.1115/DSCC2018-9209
View Paper titled, Foveation Control of a Robotic Eye Using Deep Reinforcement Learning
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Topics: Robotics, Design, Muscle, Biomechanics, Dynamic models, Machine learning, Motion control, Polymers, Simulation
Proceedings Papers

Individualized Inter-Stimulus Interval Estimation for Neural Facilitation in Human Motor System: A Particle Filtering Approach

Kentaro Takemura, Euisun Kim, Jun Ueda
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T01A010, September 30–October 3, 2018
Paper No: DSCC2018-9155
https://doi.org/10.1115/DSCC2018-9155
View Paper titled, Individualized Inter-Stimulus Interval Estimation for Neural Facilitation in Human Motor System: A Particle Filtering Approach
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Topics: Engines, Motors, Particle filtering (numerical methods), Robotics, Tendons, Accelerometers, Algorithms, Filters, Muscle, Particulate matter
Proceedings Papers

Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation

Tao Shen, Md Rayhan Afsar, He Zhang, Cang Ye, Xiangrong Shen
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A009, September 30–October 3, 2018
Paper No: DSCC2018-9223
https://doi.org/10.1115/DSCC2018-9223
View Paper titled, Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation
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Topics: Image processing, Robotics, Control equipment, Muscle, Robots, Errors, Mechanical admittance, Noise (Sound), Wheelchairs
Proceedings Papers

Variability in Muscle Recruitment Strategy Between Operators During Assisted Assembly Tasks

Yingxin Qiu, Keerthana Murali, Jun Ueda, Atsushi Okabe, Dalong Gao
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A005, September 30–October 3, 2018
Paper No: DSCC2018-9222
https://doi.org/10.1115/DSCC2018-9222
View Paper titled, Variability in Muscle Recruitment Strategy Between Operators During Assisted Assembly Tasks
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Topics: Manufacturing, Muscle, Electromyography, Support vector machines, Principal component analysis, Redundancy (Engineering), Signals
Proceedings Papers

Stable Cadence Tracking of Admitting Functional Electrical Stimulation Cycle

Christian A. Cousin, Victor H. Duenas, Courtney A. Rouse, Warren E. Dixon
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A003, September 30–October 3, 2018
Paper No: DSCC2018-8989
https://doi.org/10.1115/DSCC2018-8989
View Paper titled, Stable Cadence Tracking of Admitting Functional Electrical Stimulation Cycle
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Topics: Cycles, Control equipment, Mechanical admittance, Dynamics (Mechanics), Electric motors, Errors, Machinery, Muscle, Nervous system, Robotics
Proceedings Papers

Learning Based Speed Control of Soft Robotic Fish

Sunil Kumar Rajendran, Feitian Zhang
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A005, September 30–October 3, 2018
Paper No: DSCC2018-8977
https://doi.org/10.1115/DSCC2018-8977
View Paper titled, Learning Based Speed Control of Soft Robotic Fish
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Topics: Robotics, Biomimetics, Design, Robots, Control modeling, Design methodology, Dynamic models, Dynamic systems, Muscle, Polymers
Proceedings Papers

Sliding Mode Impedance Control of a Hydraulic Artificial Muscle

Jonathon E. Slightam, Mark L. Nagurka, Eric J. Barth
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T13A003, September 30–October 3, 2018
Paper No: DSCC2018-9186
https://doi.org/10.1115/DSCC2018-9186
View Paper titled, Sliding Mode Impedance Control of a Hydraulic Artificial Muscle
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Topics: Muscle, Actuators, Robotics, Control equipment, Dynamics (Mechanics), Lumped parameter models, Power density, Stiffness, Uncertainty
Proceedings Papers

Under-Actuated Humanoid Model With Elastomeric Springs

Christian Fry, Stanley Coram, III, Davide Piovesan
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T27A014, October 11–13, 2017
Paper No: DSCC2017-5309
https://doi.org/10.1115/DSCC2017-5309
View Paper titled, Under-Actuated Humanoid Model With Elastomeric Springs
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Topics: Springs, Servomotors, Damping, Design, Engineering prototypes, Equilibrium (Physics), Motors, Muscle, Photopolymers, Resins