TY - GEN
T1 - Catastrophe and stability analysis of a cable-driven actuator
AU - Sulzer, James S.
AU - Peshkin, Michael A.
AU - Patton, James L.
PY - 2006/12/1
Y1 - 2006/12/1
N2 - Recent work in human-robot interaction has revealed the need for compliant, human-friendly devices. One such device, known as the MARIONET, is a cable-driven single joint actuator with the intended applications of physical rehabilitation and assistive devices. In this work, the stability of the nonlinear system is determined in regards to its equilibria in a wide variety of configurations. In certain configurations, the canonical version of this mechanism experiences an interesting mathematical behavior known as "catastrophes". This behavior may be disadvantageous toward control or even safety. Several cases are thoroughly investigated, two cases where each of two degrees of freedom loses control, and the final case explores the use of a mechanical advantage such as a block and tackle. The study concludes that for a range of design options, the MARIONET does not suffer from any catastrophes. However, the unique behaviors such as a unidirectional bifurcation produced by certain configurations may have use outside of our objectives, perhaps as a type of switch or valve.
AB - Recent work in human-robot interaction has revealed the need for compliant, human-friendly devices. One such device, known as the MARIONET, is a cable-driven single joint actuator with the intended applications of physical rehabilitation and assistive devices. In this work, the stability of the nonlinear system is determined in regards to its equilibria in a wide variety of configurations. In certain configurations, the canonical version of this mechanism experiences an interesting mathematical behavior known as "catastrophes". This behavior may be disadvantageous toward control or even safety. Several cases are thoroughly investigated, two cases where each of two degrees of freedom loses control, and the final case explores the use of a mechanical advantage such as a block and tackle. The study concludes that for a range of design options, the MARIONET does not suffer from any catastrophes. However, the unique behaviors such as a unidirectional bifurcation produced by certain configurations may have use outside of our objectives, perhaps as a type of switch or valve.
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U2 - 10.1109/IEMBS.2006.260514
DO - 10.1109/IEMBS.2006.260514
M3 - Conference contribution
C2 - 17946512
AN - SCOPUS:34047167135
SN - 1424400325
SN - 9781424400324
T3 - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
SP - 2429
EP - 2433
BT - 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
T2 - 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Y2 - 30 August 2006 through 3 September 2006
ER -