This dissertation demonstrates a new method for inferring a representation of the motor command, generated by the central nervous system for interactive point-to-point movements. This new tool, the input inference neural network or IINN, allows estimation of the complexity of the motor command. The IINN was applied to experimental data gathered from 7 volunteer subjects who performed point-to-point tasks while interacting with a specially constructed haptic robot. The motor plan inference demonstrates that, for the point-to-point movement tasks executed during experiments, the motor command can be projected onto a low-dimensional manifold. This dimension is estimated to be 4 or 5 and far less than the degrees of freedom available in the arm. It is hypothesized that subjects simplify the problem of adapting to changing environments by projecting the motor control problem onto a motor manifold of low dimension. Reducing the dimension of the movement optimization problem through the development of a motor manifold can explain rapid adaptation to new motor tasks.

Industrial robots have been used for a long time in the industry. Despite this thedevelopment of advanced force control system using industrial robots is relativelylimited. Using force controlled robot systems expands the possibility of what canbe done with industrial robots.Previously a force feedback system for a standard industrial robot from ABBhas been developed. The system is developed towards the aircraft industry, where amounted drill machine on the robot has to fulfill the requirements in robot drillingin aircraft structures. This thesis presents experimental results and improvementsof this industrial robot system. Mechanical modifications and tests of a new endeffector are analyzed.

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abstract: Myoelectric control is lled with potential to signicantly change human-robot interaction. Humans desire compliant robots to safely interact in dynamic environments associated with daily activities. As surface electromyography non-invasively measures limb motion intent and correlates with joint stiness during co-contractions, it has been identied as a candidate for naturally controlling such robots. However, state-of-the-art myoelectric interfaces have struggled to achieve both enhanced functionality and long-term reliability. As demands in myoelectric interfaces trend toward simultaneous and proportional control of compliant robots, robust processing of multi-muscle coordinations, or synergies, plays a larger role in the success of the control scheme. This dissertation presents a framework enhancing the utility of myoelectric interfaces by exploiting motor skill learning and exible muscle synergies for reliable long-term simultaneous and proportional control of multifunctional compliant robots. The interface is learned as a new motor skill specic to the controller, providing long-term performance enhancements without requiring any retraining or recalibration of the system. Moreover, the framework oers control of both motion and stiness simultaneously for intuitive and compliant human-robot interaction. The framework is validated through a series of experiments characterizing motor learning properties and demonstrating control capabilities not seen previously in the literature. The results validate the approach as a viable option to remove the trade-o between functionality and reliability that have hindered state-of-the-art myoelectric interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric controlled applications beyond commonly perceived anthropomorphic and \intuitive control" constraints and into more advanced robotic systems designed for everyday tasks. / Dissertation/Thesis / Doctoral Dissertation Mechanical Engineering 2015

Les instabilités thermo-acoustiques causent des problèmes récurrents dans les chambres de combustion pour une large gamme d'applications industrielles, allant des chaudières domestiques aux turbines à gaz, en passant par les moteurs fusées. Ces phénomènes résultent d’un couplage résonant entre la dynamique de la combustion et les modes acoustiques du foyer, et peuvent donner lieu à de fortes vibrations, un vieillissement prématuré des composants de la chambre, voire des dommages structurels. Les mécanismes physiques mis en jeu sont complexes et difficiles à modéliser, ainsi les oscillations thermo-acoustiques ne sont pas facilement prévisibles au stade de la conception d’une chambre de combustion. Dans de nombreux foyers, des systèmes d’amortissement passifs sont installés pour augmenter la dissipation d’énergie acoustique et empêcher le développement de ces instabilités. Dans ce travail, des systèmes d’amortissement basés sur des plaques perforées couplées à une cavité résonante et traversées par un écoulement moyen sont analysés. Les principaux objectifs sont : (i) d’améliorer et de simplifier la conception de systèmes d’amortissement robustes en maximisant leurs propriétés d’absorption acoustique en régime linéaire, (ii) d’analyser l’effet de l’amplitude des ondes sonores incidentes sur la réponse acoustique des plaques perforées et (iii) de développer des modèles capables de reproduire cette réponse aux hautes amplitudes. Tout d’abord, deux régimes asymptotiques intéressants sont identifiés où le système fonctionne à faibles et forts nombres de Strouhal respectivement. Dans ces régimes la conception d’un système d’amortissement maximisant l’absorption acoustique est grandement simplifiée, puisque les calculs de la vitesse optimale de l’écoulement et de la taille de la cavité sont découplés. Il est démontré qu’à faible nombre de Strouhal le système se comporte comme un résonateur quart d’onde, et dispose d’une bande d’absorption très large. À fort nombre de Strouhal, le système fonctionne comme un résonateur de Helmholtz, comportant une cavité de taille plus réduite, mais une bande d’absorption beaucoup plus étroite que dans le régime précédent. Ces prévisions sont confirmées par des mesures réalisées dans les différents régimes identifiés sur un dispositif expérimental dédié. L’évolution des propriétés acoustiques d’une plaque perforée lorsque l’amplitude de forçage augmente est ensuite examinée par le biais de simulations directes. Il est montré que la transition du régime linéaire au régime non linéaire se produit lorsque l’amplitude de la vitesse acoustique dans l’orifice est comparable à la vitesse de l’écoulement moyen dans les trous. Pour des amplitudes élevées, une inversion périodique de l’écoulement est observée dans l’orifice. Des anneaux tourbillonnaires sont alternativement éjectés en amont et en aval de l’orifice à une vitesse de convection qui augmente avec l’amplitude de la perturbation acoustique. Ces mécanismes influencent profondément l’absorption acoustique des plaques perforées dans le régime non linéaire. Deux nouveaux modèles décrivant la réponse non linéaire de ces systèmes sont ensuite développés en exploitant la trajectoire des vortex (modèle VC), et une approche quasi-stationnaire (modèle IDF). Les prévisions de ces modèles sont confrontées à des mesures effectuées dans le tube à impédance et aux résultats de simulations directes. Les résultats obtenus au cours de ces travaux peuvent être utilisés pour guider la conception de systèmes d’absorption robustes, capables de fonctionner dans des environnements difficiles avec des niveaux sonores élevés, comme ceux rencontrés lors d’instabilités thermo-acoustiques. / Thermo-acoustic instabilities are of primary concern in combustion chambers for a wide range of industrial applications, from domestic boiler to gas turbines or rocket engines. They are the consequence of a resonant coupling between the flame dynamics and the acoustic modes of the combustor, and can result in strong vibrations, early aging of combustor components and structural damage. The physical mechanisms involved are complex and difficult to model, thus thermo-acoustic oscillations are not easily predictable at the design stage of a combustor. In many combustors, passive dampers are implemented to increase the acoustic energy dissipation of the system and to hinder detrimental flame-acoustics interactions. In the present work, passive damping systems based on perforated screens backed by a resonant cavity and traversed by a bias flow are investigated. The main objectives are: (i) to improve and simplify the design of these dampers by maximizing their acoustic absorption properties in the linear regime, (ii) to analyze the effect of the sound wave amplitude on the acoustic response of these systems and (iii) to develop models capable of capturing absorption at high oscillation amplitudes. First, two interesting asymptotic regimes are identified where the plate operates at low and high Strouhal numbers respectively. In these regimes the design of a damper maximizing absorption is greatly simplified, since the choice of the optimal bias flow velocity and back cavity size can be decoupled. It is shown that at low Strouhal numbers the damper behaves as a quarter-wave resonator, and features a wide absorption bandwidth. At high Strouhal numbers, the system operates as a Helmholtz resonator, featuring shorter optimal back cavity sizes but narrower absorption bandwidths. These predictions are compared to measurements in a dedicated experimental setup for the different operating regimes identified. The dependence of the acoustic properties of a perforated plate on the forcing amplitude is then examined by means of direct numerical simulations. It is shown that transition from linear to nonlinear regimes occurs when the acoustic velocity amplitude in the orifice is comparable to the mean bias flow velocity. At high amplitudes, periodic flow reversal is observed within the perforation, vortex rings are alternatively shed upstream and downstream of the hole and convected away at a velocity which is increasing with the forcing amplitude. These mechanisms greatly influence the acoustic absorption of the perforate in the nonlinear regime. Two novel models capturing this nonlinear response are then inferred based on an analysis of the vortex trajectory (VC model), and on a quasi-steady description of the flow (IDF model). Their predictions are finally compared to measurements conducted in an impedance tube, and to results from numerical simulations. The results obtained in this work can be used to ease the design of robust dampers capable of operating in harsh environments with high sound levels, such as those found during self-sustained thermo-acoustic instabilities.

Esta dissertação apresenta o projeto e a construção de atuadores elásticos em série para o acionamento das juntas de um exoesqueleto para membros inferiores, baseado em uma órtese comercial. Inicialmente, considerou-se como dispositivo de testes a parte do exoesqueleto referente à junta do tornozelo, ou seja, a construção de uma órtese tornozelo-pé ativa. Atuadores elásticos em série são considerados neste trabalho, pois tais dispositivos apresentam características ideais para a sua utilização em órteses ativas: controle de força, controle de impedância (possibilidade de impedância baixa), absorção de impactos, baixo atrito e largura de banda que se aproxima da movimentação muscular. Um primeiro protótipo do atuador elástico em série foi construído e resultados experimentais de controle de força, impedância e posição foram obtidos com sucesso, através de uma interface de acionamento e controle entre o atuador, os sensores (encoders e sensores de força) e o computador. Também foi construída uma órtese tornozelo-pé ativa acionada pelo atuador elástico em série construído, sendo apresentados os primeiros resultados experimentais obtidos com este dispositivo. / This dissertation deals with the design and construction of series elastic actuators for driving the joints of an exoskeleton for lower limbs, based on a commercial orthosis. Initially, it was considered the construction of the exoskeleton\'s ankle joint, that is, the construction of an active ankle-foot orthosis. Series elastic actuators are considered in this work since these devices have ideal characteristics for use in active orthoses: force control, impedance control (possibility of low impedance), impact absorption, low friction and bandwidth that approximates the muscle movement. A first prototype of the series elastic actuator was constructed and experimental results of force, impedance, and position control were successfully obtained trough of a control interface between the actuators, the sensors (encoders and force sensors) and the computer. Also, an active ankle-foot orthosis, driven by the series elastic actuator, was constructed and the first experimental results achieved with this device are presented.

Este trabalho apresenta o desenvolvimento de uma estratégia de assistência adaptativa mediante a implementação de um controle de impedância variável para um robô de reabilitação do tornozelo. A estratégia é formulada de tal forma que o dispositivo robótico assiste ao paciente somente quando e quanto for necessário, seguindo o paradigma Assist-As-Needed. Inicialmente, a contribuição dinâmica do paciente durante a realização do movimento é estimada com base nas informações cinemáticas e de torque fornecidas pelo robô. Em seguida, são propostos dois métodos para se obter o parâmetro de rigidez do controlador de impedância, o primeiro deles determina um valor de erro admissível e calcula a rigidez do robô para complementar a atuação do paciente, e o segundo calcula a rigidez mediante a minimização de um funcional que quantifica o processo de reabilitação e a interação entre robô e paciente. Além disso, a quantidade de assistência dada pelo robô também é adaptada conforme o desempenho do paciente ao longo da sessão. A estratégia foi implementada no robô Anklebot e avaliada em três pacientes pós-AVC para movimentos de flexão dorsal/plantar e de inversão/eversão. Os resultados obtidos indicam que o método utilizado para a estimativa da rigidez é válido para determinar a quantidade de assistência. Finalmente, os resultados confirmam que o aumento do desempenho do paciente gera uma diminuição da assistência robótica, e vice-versa. / This work presents the design of an adaptive robotic assistance strategy through a variable impedance control of an ankle rehabilitation robot. This strategy is formulated so that the robotic device assists the patient only as much as needed, following the Assist-As-Needed paradigm. First, the dynamic contribution of the patient during the motion is estimated based on the torque and kinematic information provided by the robot. Then, two methods are proposed to calculate the stiffness parameter of the impedance controller, the first one determines an admisible value of error and computes the robot stiffness to complement the estimated patient stiffness. The second one computes the robot stiffness by minimizing a functional that quantifies both the rehabilitation process and the interaction between robot and patient. In addition, the amount of the robotic assistance is adapted according to the patient\'s performance. The proposed methods were implemented at the Anklebot and evaluated by three post-stroke patients for dorsi/plantarflexion and inversion/eversion movements. Results indicate that the stiffness estimation is a valid method to determine the amount of the assistance. Finally, the results confirm that increasing the performance of the patient generates a decrease in the robotic assistance, and vice versa.

abstract: The human ankle is a critical joint required for mobility and stability of the body during static and dynamic activity. The absence of necessary torque output by the ankle due to neurological disorder or near-fatal injury can severely restrict locomotion and cause an inability to perform daily tasks. Physical Human-Robot Interaction (pHRI) has explored the potential of controlled actuators to positively impact human joints and partly restoring the required torque and stability at the joint to perform a task. However, a trade-off between agility and stability of the control technique of these devices can reduce the complete utilization of the performance to create a desirable impact on human joints. This research focuses on two control techniques of an Active Ankle Foot Orthosis (AFO) namely, Variable Stiffness (VS) and Variable Damping (VD) controllers to modulate ankle during walking. The VS controller is active during the stance phase and is used to restore the ankle trajectory of healthy participants that has been altered by adding a dead-weight of 2 Kgs. The VD controller is active during the terminal stance and early-swing phase and provides augmentative force during push-off that results in increased propulsion and stabilizes the ankle based on user-intuitions. Both controllers have a positive impact on Medial Gastrocnemius (GAS) muscle and Soleus (SOL) muscle which are powerful plantar - flexors critical to propulsion and kinematic properties during walking. The VS controller has recorded an 8.18% decrease in GAS and an 9.63 % decrease in SOL muscle activity during the stance phase amongst participants while decreasing mean ankle position error by 22.28 % and peak ankle position error by 17.43%. The VD controller demonstrated a 7.59 % decrease in GAS muscle and a 10.15 % decrease in SOL muscle activity during push-off amongst the participants while increasing the range-of-motion (ROM) by 7.84 %. Comprehensively, the study has shown a positive impact on ankle trajectory and the corresponding muscle effort at respective stages of the controller activity. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2020

Single degree-of-freedom hopping robots are typically modeled as spring loaded inverted pendulums (SLIPs). This simplified model, however, does not consider the overall leg geometry, consequently making it difficult to investigate the optimized inertial distribution of the leg for agile locomotion. To address this issue, the first part of this thesis establishes an accurate mathematical model of a DC-motor-driven, two-link hopping robot where the motors are modeled as torque sources. The equations of motion for the two distinct phases of locomotion (stance and flight) are derived using the Lagrangian approach for holonomic systems. A Simulink/Stateflow model is developed to numerically simulate the robot’s locomotion. The model is then validated with the simulation data from Simscape Multibody, which allows for accurate modeling of the environment and inertial properties for complex geometries. With the accurate model of the hopping robot, two distinct control strategies are adopted. The first strategy focuses on implementing position control while the robot is in flight to prepare for touchdown. The second control method explores implementing impedance control during stance, allowing the response to mimic that of a mass-spring-damper model. It was found that concentrating the mass of the robot in the hip allows the robot to attain larger apex heights as opposed to evenly distributing the mass throughout the leg. With plans to implement the leg on a quadruped robot, the mathematical model is easily expandable to 2 or 3 degrees-of-freedom. This allows for further stability analysis and development of control strategies of the leg.

In order to function safely in a dynamic environment with humans and obstacles, robots require active compliance control with force feedback. In these applications the control law typically includes full dynamics compensation to decouple the joints and cancel out nonlinearities, for which a high-fidelity model of the robot is required. In the case of a 3D-printed robot, components cannot be easily modeled due non-uniform densities, inconsistencies among the 3D printers used in manufacturing, and the use of different plastics with mechanical properties that are not widely known. To address this issue, this thesis presents an adaptive control framework which modifies the model parameters online in order to achieve satisfactory tracking performance. The inertial properties are estimated by adapting with respect to functions of the unknown parameters. This is achieved by rewriting the robot dynamics equations as the product of a matrix of known nonlinear functions of the joint states and a vector of constant unknowns. The result is a nonlinear system linearly parameterized in terms of the of the unknowns, which can be estimated using adaptation laws derived from Lyapunov stability theory. The proposed control system consists of an outer-loop impedance controller to regulate deviations from the nominal trajectory in the presence of disturbances, and an inner-loop force controller to track the joint torques commanded by the outer-loop. The proposed system is evaluated on an early prototype consisting of a 3DOF leg, and two actuator test setups for the low-level controller. / Master of Science / In order to function safely in a dynamic environment with humans and obstacles, a robot must be able to actively control its interaction forces with the outside environment. In these applications a high-fidelity model of the robot is required. In the case of a 3D-printed robot, the components in the robot cannot be easily modeled due non-uniform densities, inconsistencies among the 3D printers used in manufacturing, and the use of different plastics with mechanical properties that are not widely known. To address this issue, this thesis presents an adaptive control framework which actively modifies the model parameters in order to achieve satisfactory tracking performance. In this work, the equations of motion of the robot are manipulated in such a way that the unknown quantities are separated from the known quantities. The unknowns are updated in real time using adaptive laws derived from Lyapunov stability theory. The proposed control system consists of a high-level torque controller to regulate deviations from the nominal trajectory, and a low-level force controller to track the joint torques commanded at the high-level. The proposed system is evaluated on an early prototype of the robot consisting of a 3 degree of freedom leg, and two actuator test setups for the low-level controller.