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Joint torque feedback (JTF) is a new and promising means of kinesthetic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person. This project evaluates the properties of JTF as haptic feedback, starting from the fabrication of a lightweight elbow haptic exoskeleton. A cheap hobby motor and easily accessible hardware are introduced for manufacturing and open-sourced embedded architecture for data logging. The total cost and the weights are $500 and 509g. Also, as the prerequisite step to assess the JTF in guidance, human perceptual ability to detect JTF was quantified at the elbow during all possible static and dynamic joint statuses. JTF slopes per various joint conditions are derived using the Interweaving Staircase Method. For either directional torque feedback, flexional motion requires 1.89-2.27 times larger speed slope, in mNm/(°/s), than the extensional motion. In addition, we find that JTFs during the same directional muscle's isometric contraction yields a larger slope, in mNm/mNm, than the opposing direction (7.36 times and 1.02 times for extension torque and flexion torque). Finally, the guidance performance of the JTF was evaluated in terms of time delay and position error between the directed input and the wearer's arm. When studying how much the human arm travels with JTF, the absolute magnitude of the input shows more significance than the duration of the input (p-values of <0.0001 and 0.001). In the analysis of tracking the pulse input, the highest torque stiffness, 95 mNm/°, is responsible for the smallest position error, 6.102 ± 5.117°, despite the applied torque acting as compulsory stimuli. / Doctor of Philosophy / Joint torque feedback (JTF) is a new and promising means of haptic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person, such as determining how well humans can detect external torques or how stiff the torque input should be to augment a human motion without interference with the voluntary movement. This project evaluates the properties of JTF as haptic feedback, starting from the fabrication of a lightweight elbow haptic exoskeleton. The novelty of the hardware is that we mask most of the skin receptors so that the joint receptors are primarily what the body will use to detect external sensations. A cheap hobby motor and easily accessible hardware are introduced for manufacturing and open-sourced software architecture for data logging. The total cost and the weight are $500 and 509g. Also, as the prerequisite step to assess the JTF in guidance, human perceptual ability to detect JTF was quantified at the elbow during all possible static and dynamic joint statuses. A psychophysics tool called Interweaving Staircase Method was implemented to derive torque slopes per various joint conditions. For either directional torque feedback, flexional motion requires 1.89-2.27 times larger speed slope, in mNm/(°/s) than the extensional motion. In addition, the muscles' isometric contraction with the aiding direction required a larger slope, in $mathrm{mNm/mNm}$ than the opposing direction (7.36 times and 1.02 times for extension torque and flexion torque). Finally, the guidance performance of the JTF was evaluated in terms of time delay and position error between the directed input and the wearer's arm. When studying how much the human arm travels with JTF, the absolute magnitude of the input shows more significance than the duration of the input (p-values of <0.0001 and 0.001). In the analysis of tracking the pulse input, the highest torque stiffness, 95 mNm/°, is responsible for the smallest position error, 6.102 ± 5.117°, despite the applied torque acting as compulsory stimuli.

This thesis presents a new nonlinear automobile dynamical model and investigates the possibility of automobile dynamic control with wheel torque utilizing this model. The model has been developed from first principles by applying classical mechanics. Inputs to the model are the four independent wheel torques, while the steer angles at each wheel are specified as independent time-varying signals. In this way, consideration of a variety of steering system architectures, including rear-wheel steer, is possible, and steering introduces time-varying structure into the vehicle model. The frictional contact at the wheel-road interface is modeled by use of the LuGre dynamic friction model. Extensions to the existing two-dimensional LuGre friction model are derived and the steady-state of the friction model is compared to existing static friction models. Simulation results are presented to validate the model mathematics and to explore automobile behavior in a variety of scenarios. Vehicle control with wheel torque is explored using the theory of input-output linearization for multi-input multi-output systems. System relative degree is analyzed and use of steady-state LuGre friction in a control design model is shown to give rise to relative degree singularities when no wheel slip occurs. Dynamic LuGre friction does not cause such singularities, but instead has an ill-defined nature under the same no-slip condition. A method for treating this ill-defined condition is developed, leading to the potential for the system to have relative degree. Longitudinal velocity control and combined longitudinal and angular vehicle velocity control are demonstrated in simulation using input-output linearization, and are shown to produce improved vehicle response as compared to the open-loop behavior of the automobile. Robustness of the longitudinal velocity control to friction model parameter variation is explored and little impact to the controller's ability to track the desired trajectory is observed.

Made available in DSpace on 2016-06-02T20:19:04Z (GMT). No. of bitstreams: 1 DissLHB.pdf: 2237464 bytes, checksum: a9f2e45dc713b4d16aefdcfdf7b78613 (MD5) Previous issue date: 2005-02-28 / Universidade Federal de Minas Gerais / The relation between flexibility alterations and muscular torque posstretching is not so exploited in literature. There are many stretching techniques and posture used in clinics and sportive activities. The technique of eccentric active stretching in a standing posture, with weight unloading in the stretched limb, is one of them. Thus, a better knowledge of the alterations caused after its application will provide scientific support for its usage. Objective: To evaluate the effects of an eccentric active stretching program of the knee flexor muscles in the standing posture on the evaluated limb on: knee extension ROM, passive torque of knee flexor muscles and isometric and isokinetic concentric and eccentric torque of flexor and extensor muscles of the knee. Methodology: 34 healthy and sedentary volunteers, both genders (34,42 ± 9,3 years) were evaluated. All of them had 20° or more knee flexor muscles shortening. The stretching program was performed twice a week, for four weeks and consisted of 7 consecutive repetitions of 1 min each one with a 30s rest between them. Knee ROM and knee torque were evaluated using an Isokinetic Dynamometer before and after four weeks of intervention. The passive torque and knee ROM were measured passively, while the isometric, concentric and eccentric torque of the flexor and extensor of the knee were measured through maximal voluntary contractions (speeds 30°/s, 60°/s). Results: There was an increase in the knee extensor ROM from 53,7 ± 13° to 30,1 ± 16° (p = 0,0001). No alteration occurred in the passive torque (from 11,2 ± 3N to 10,6 ± 3N; p = 0,09). The isometric extensor and flexor torque increased from 68 ± 67,8N to 187,58 ± 73,5N (p = 0,006) and from 89,68 ± 32,62N to 93,87 ± 33,12N (p = 0,01), respectively. There was a gain of knee extensor concentric torque at 60°/s from 144,44 ± 51,6N to 151,57 ± 58,2N (p = 0,02) and knee extensor eccentric torque at 30°/s from 175,4 ± 71,6N to 189,9 ± 73,8N (p = 0,01). There was an improvement in the flexor eccentric and concentric torque at 30º /s (from 100,3 ± 34,2N to 105,63 ± 35N; p = 0,02 and from 90,7 ± 31,7N to 96,7 ± 31,8N; p = 0,001, respectively). Conclusions: The eccentric active stretching program of the knee flexor muscles in a standing posture was effective to increase knee extension ROM, improving flexibility in the knee flexor muscles, although there was no change in the passive torque. It also improved the isometric and isokinetic peak torque from the muscle group submitted to the stretching and its antagonist group. / A relação entre alterações na flexibilidade e torque muscular pósalongamentos tem sido pouco explorada pela literatura. São inúmeras as técnicas e posturas de alongamento sendo utilizadas tanto nas clínicas quanto em atividades esportivas. A técnica de alongamento ativo excêntrico realizada na postura em pé, com descarga de peso no membro alongado, estão entre elas. Sendo assim, o maior conhecimento das alterações geradas após sua aplicação, dará suporte para que sejam executadas mediante evidências científicas que comprovem sua eficácia. Objetivo: foi avaliar o efeito de um programa de alongamento ativo excêntrico dos músculos flexores do joelho na postura em pé com descarga de peso no membro avaliado, sobre as variáveis: Amplitude de movimento (AM) de extensão do joelho, torque passivo dos músculos flexores do joelho e torque isométrico e isocinético dos músculos extensores e flexores do joelho. Metodologia: foram selecionados 34 voluntários, de ambos os sexos, com idade de 34,42 ± 9,3 anos, sedentários, saudáveis e com, no mínimo, 20º de encurtamento dos músculos flexores do joelho. Todas as variáveis estudadas foram avaliadas pré e pós-programa de alongamento, em um Dinamômetro Isocinético (Biodex Multi-joint System 3). O programa de alongamento dos músculos flexores do joelho foi realizado duas vezes por semana durante quatro semanas. Cada sessão de alongamento consistiu de sete repetições de 1min de alongamento intercaladas com 30 s de repouso. A avaliação da Amplitude de movimento e do torque passivo foram realizados passivamente. O toque isométrico e isocinético concêntrico e excêntrico dos músculos extensores e flexores do joelho, foram testados por meio de contrações voluntárias máximas Contração Voluntária Máxima (CVM) nas velocidades a 30º/s e 60º/s. Resultados: demonstraram aumento na amplitude de movimento de extensão do joelho de 53,7 ± 13° para 30,1 ± 16° (p = 0,0001). O valor do torque passivo não alterou significativamente (11,2 ± 3N para 10,6 ± 3N; p = 0,09). O torque isométrico extensor aumentou de 178,68 ± 67,8N para 187,58 ± 73,5N (p = 0,006) e o flexor de 89,68 ± 32,62N para 93,87 ± 33,12N (p = 0,01). O torque isocinético concêntrico dos músculos extensores aumentou a 60°/s de 144,44 ± 51,6 N para 151,57 ± 58,2N; (p = 0,02) e o excêntrico a 30°/s de 175,4 ± 71,6 N para 189,9 ± 73,8 N; (p = 0,01). O torque isocinético tanto excêntrico quanto concêntrico dos músculos flexores do joelho aumentou a 30°/s (de 100,3 ± 34,2 N para 105,63 ± 35 N; p = 0,01 e de 90,7 ± 31,7 N para 96,7 ± 31,8 N; p = 0,001, respectivamente). Conclusão: o programa de alongamento ativo excêntrico dos músculos flexores do joelho, realizado na postura em pé, foi efetivo em aumentar a amplitude de movimento de extensão do joelho, sendo assim aumentou a flexibilidade dos flexores do joelho, embora não tenha constatado alteração no torque passivo. Também se mostrou eficaz em aumentar o pico de torque isométrico e isocinético tanto do grupo muscular submetido ao alongamento quanto do seu antagonista.

Made available in DSpace on 2014-06-11T19:22:51Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-06-30Bitstream added on 2014-06-13T19:28:17Z : No. of bitstreams: 1 diz_mar_me_rcla.pdf: 260196 bytes, checksum: 25afce4afc679e6814f683ef7d1aaffa (MD5) / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / Durante o período de escolarização, algumas crianças podem apresentar dificuldades na coordenação motora, principalmente em habilidades manuais, e podem ser identificadas como tendo Transtorno do Desenvolvimento da Coordenação (TDC). Existem evidências na literatura que déficits nos mecanismos de controle e precisão para produção de força/torque dos dedos estejam associados às dificuldades motoras nessas crianças. Assim, como a produção de força/torque é essencial para inúmeras atividades da vida diária, o presente estudo teve como objetivo principal investigar o efeito da prática no desempenho de crianças com TDC e com desenvolvimento típico (DT). Participaram do estudo, 24 crianças com idade entre 9 e 10 anos. A tarefa praticada foi a de preensão digital em torque com feedback visual. As crianças foram incentivadas a manter, durante 15 segundos, de forma contínua e constante, 25% do torque voluntário máximo. A prática foi feita durante cinco dias consecutivos, com realização de 15 tentativas por dia. Após a prática com feedback visual, as crianças foram incentivadas a realizar cinco tentativas na condição sem feedback visual. Nestas tentativas, o feedback visual era removido após 5 segundos do início da tentativa. Os resultados demonstraram que nos cinco dias de prática as crianças com DT foram consistentemente mais precisas em manter o controle de torque do que as crianças com TDC. As crianças de ambos os grupos melhoraram o desempenho no decorrer das sessões de prática evidenciado pela redução do coeficiente de variação e da dispersão média do erro... / During the first years in school, children can show motor coordination difficulties mainly in manual skills and they can be identified as shown Developmental Coordination Disorder (DCD). There is evidence from the literature that deficits in the mechanisms of accuracy and control in the finger production of strength/torque are associated with the motor difficulties of these children. The production of strength/torque is essential for a large number of daily activities so that the effect of practice of grip torque among DCD children and those shown typical development (DT) was the main objective of the present study. Participants were 24 children aged between 9 and 10 years. Children were asked to keep control of torque in a continuous and constant way with visual feedback (25% of maximum voluntary torque) during a period of 15 seconds. Practice was given during five consecutive days with 15 trials per day. After the practice with visual feedback, children were asked to perform five trials without visual feedback. In these trials, feedback was removed five seconds after the start of the trial. The results showed during the five days of practice that children with DT were consistently more accurate in keeping torque control than those with DCD. Children from both groups improved the level of performance as practice took place shown reduction of the coefficient of variation and of error (RMS). In relation to the trials without visual feedback, DCD children were not able to perform at the same level as they did when visual feedback was available...(Complete abstract, click electronic access below)

Orientadora: Maria Cecília F. P. S. Zanardi / Banca: Ana Paula Marins Chiaradia / Banca: Sandro da Silva Fernandes / Resumo: Uma abordagem analítica para o movimento rotacional de satélites artificiais estabilizados por rotação é apresentada, considerando os satélites em órbita elíptica e a influência conjunta do torque aerodinâmico, o torque de gradiente de gravidade, o torque magnético residual e o torque magnético devido às correntes de Foucault. Modelos matemáticos são apresentados para todos os torques e os componentes médios de cada torque são determinados para um período orbital. O torque médio já inclui os principais efeitos de cada torque sobre o movimento rotacional e são necessários nas equações do movimento. As equações do movimento são descritas em termos do módulo da velocidade angular de rotação do satélite, da declinação e da ascensão reta do eixo de rotação do satélite. Uma solução analítica para as equações do movimento rotacional é determinada, considerando os valores do torques externos médios em um período orbital, sendo válida para um período orbital. Por esta solução observa-se que o torque gradiente de gravidade e torque magnético devido às correntes de Foucault afetam o módulo da velocidade angular de rotação, contribuindo também para as variações temporais da ascensão reta e declinação do eixo de rotação, associadas com a precessão e deriva do eixo de rotação do satélite. O torque magnético residual e o torque aerodinâmico afetam apenas a ascensão reta e declinação do eixo de rotação, pois seu componente no eixo z são nulo. Aplicações são realizadas para os Satélites de Coleta de Dados Brasileiros SCD1 e SCD2, através de uma primeira abordagem com atualização diária dos dados de atitude e órbita e uma segunda abordagem sem a atualização diária destes dados. Os resultados mostram uma boa concordância entre os resultados obtidos pela teoria e os dados fornecidos pelo Centro de Controle de... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: An analytical approach for the rotational motion of artificial satellites stabilized by rotation is presented, considering the satellites in elliptical orbit and the influence of the aerodynamic torque, gravity gradient torque, residual magnetic torque and magnetic torque due to the Foucault currents. Mathematical models for all the torques are shown and average components of each torque are determined for an orbital period. These components are needed in the equations of rotational motion. The average torque already included the main effects of each torque upon the rotational motion. The equations of rotational motion are described in terms of the satellite's spin velocity, the declination and right ascension of the spin axis of the satellite. An analytical solution for the equations of the rotational motion is determined, considering mean values in an orbital period for the external torques. This solution is valid for an orbital period. Through this solution, it is noticed that the gravity gradient torque and the magnetic torques affects the spin velocity and the spin axis. The temporal variations of right ascension and declination of the spin axis causes the precession and drift of the spin. The residual magnetic torque and the aerodynamic torque, doesn't affect the spin velocity because its component at z-axis is null. Applications are made for the Brazilian Data Collection Satellites SCD1 and SCD2, through a first approach with daily updates of the attitude and orbit data, and a second approach without the daily update of these data. The results show a good agreement between the results obtained by theory and data supplied by the Satellite Control Center of INPE in the first approach during 10 days. For the approach without updates, the results prove to be suitable only for 3 days of simulation. To validate the analytical solution, the pointing error (deviation from the rotational... (Complete abstract click electronic access below) / Mestre

Policies to reduce emissions from transportation are implemented by different World and European<p>associations. Personal and freight transportation is one of the key contributors in GHG<p>emissions, being the second biggest GHG emitter after energy sector in the European Union.<p>The policies to reduce emissions from transportation are focusing on the optimization of the efficiency<p>of the existing vehicles, the development of new sustainable fuels and propulsion systems<p>and the electrification of the vehicles<p>The continuously increasing price of the permanent magnets and the shortage of rare earths<p>demand the finding of alternatives for the permanent magnet synchronous machines which is<p>currently the leading technology in several domains as hybrid and full electric propulsion and<p>wind turbines due to their best overall performances.<p>The good efficiency and the large constant power-speed ratio in addition to low the cost, high<p>reliability and fault-tolerance make the SRM a candidate with real chances on the market of<p>vehicle propulsion. The main drawbacks of the SRM related to the torque ripple, noise and<p>vibration make the research object in R&Ds all over the world.<p>This thesis is focused on the development of an efficient and robust switched reluctance drive<p>which can be integrated in a hybrid dive train or can be solely used for electric vehicle traction.<p>To achieve this goal, various instantaneous and average torque control techniques are implemented<p>and compared. A converter is designed, built and integrated on a test bench which<p>allows testing SRMs for vehicle propulsion. An investigation on noise production in SRDs ends<p>the thesis. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished

This dissertation focuses mainly on the airgap-less electric machine. An extensive literature review has been presented along with a systematic study that included analytical modeling, simulation with both steady-state and trasient analysis, prototype building, and experimental validation. In this type of device, the rotor is allowed to touch the stator at a contact point, which maximizes the internal flux and therefore the electromagnetic torque. A higher torque density motor is proposed in this dissertation due to a reduced reluctance caused by zero airgap situation. A comparison with other high torque density electric ma-chines demonstrates the advantages of the proposed machine. Switched reluctance motor for hybrid vehicle, integrated magnetic gear, induction machines, are some examples of the machines with lower torque density than the airgap-less electric machine. This machine will maximize the generated torque allowing these type of machines to be competitive in applications where hydraulic motors are prevalent, i.e., low-speed and high-torque requirements. Hydraulic motor systems face two major problems with their braking system and with low efficiency due to a large number of energy conversion stages (i.e., motor-pump, hydraulic connections and the hydraulic motor itself). The proposed electric motor, unlike hydraulic motors, converts electrical energy directly to mechanical energy with no extra braking system necessary and with higher efficiency. The evolution of the airgap-less electric machine from three poles to 9 bi-poles is discussed in this dissertation. The modeling of this machine with a minimum number of poles is discussed before a generalization is presented. The simulation and analysis of the airgap-less electric motor has been done using Euler integration method as well as Runge Kutta 4th order integration method due to its higher precision. A proof-of-concept electric machine with nine magnetic bipoles is built to validate the theoretical assumptions.

This work was carried out on behalf of Science Safari. Science Safari wants to create a product that facilitates the understanding of how much physical work is required to create electrical energy. This is done by cranking the pedals of a bicycle. The purpose of this work is to create a control unit that keeps the torque required to crank the pedals close to constant. The torque can be kept constant by creating a variable load for the generator, in this case, a pulse modulated JFET is used. The output of the current sensor and the Hall-effect sensor are used to calculate the required resistance of the JFET to keep constant torque. All this is controlled via a Raspberry Pi 3 Model B (RPi) which also shows real-time values on a display. The functionality of the sensors and JFET has largely been completed, but the assembly of all components is lacking in this work. / Detta arbete är utfört i uppdrag av Science Safari. Science Safari vill skapa en produkt som underlättar förståelsen av hur mycket fysiskt arbete som krävs för att skapa elektrisk energi. Detta genom att användaren vevar på en cykels pedaler för hand. Syftet med detta arbete är att skapa en styrenhet som ungefär håller ett konstantvridmomentet på en cykels pedaler. Vridmomentet kan hållas konstant genom att skapa en variabel last till generatorn, med hjälp av en pulsmodulerad JFET. För att beräkna vilken resistans JFETen ska ha för att hålla konstant vridmoment används en strömsensor och en Hall-effect sensor. Allt detta styrs via en Raspberry Pi 3 ModelB som även visar värden i realtid på en display. Funktionaliteten av sensorerna och JFET har till stor del färdigställts men sammansättning av alla komponenter saknas i detta arbete.