Harnessing dynamics of a gyroscope: Balance assistance in a backpack
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1 Harnessing dynamics of a gyroscope: Balance assistance in a backpack Heike Vallery, TU Delft Delft University of Technology Challenge the future dbl.tudelft.nl
2 Pfeifer, Pagel, Riener, & Vallery, Actuator With Angle- Dependent Elasticity for Biomimetic Transfemoral Prostheses IEEE/ASME Transactions on Mechatronics, 2015 Cooperative control Actuator design Research group at Delft Biorobotics Lab Plooij et al.: Design and Bipedal Evaluation of the walking Bi-Directional Clutched Parallel Elastic Actuator (BIC-PEA), ICORR % energy reduction 2
3 Robot Assisted Neurorehabilitation Urs Keller Grégoire Courtine [Dominici/Keller, Vallery, Friedli, van den Brand, Starkey, Musienko, Riener & Courtine: 3 after Novel robotic interface to evaluate, enable, and train locomotion and balance neuromotor disorders, Nature Medicine, 2012]
4 Robot-Assisted Neurorehabilitation [Vallery et al. Multidirectional Transparent Support for Overground Gait Training, ICORR 2013] 4
5 Motivation for wearable balance assistance [ABC News] 5
6 Exoskeletons for wearable balance support? [HAL, University of Tsukuba] REX (REX Bionics Ltd., USA) Ekso (Ekso Bionics, USA) [ReWalk, Argo Medical Technologies, Israel] > Impractical in daily life 6
7 Wearable Gyroscopic Actuators dbl.tudelft.nl 7
8 (Variable-Speed) Control Moment Gyroscopes Control moment gyroscopes (CMG): Low gimbal torques/powers produce high output torques Reaction wheel effect Needs high power, because of high spinning speed [Schaub et al.: Feedback Control Law for Variable Speed Control Moment Gyros. J. Astron. Sc., 1998] [NASA CMG, part of ISS] 8
9 CMGs and VSCMGs Two gimbals [Didactic setup, Technische Universität Darmstadt] CMG Assemblies [ CMG Fine Attitude Control System, Patent number: ] Variable-Speed CMGs (VSCMGs) [Schaub et al.: Feedback Control Law for Variable Speed Control Moment Gyros. J. Astron. Sc., 1998] 9
10 Balance Assistance with Gyroscopes? [Vallery & Li: Gyroscopic Assistance for Human Balance. Workshop Advanced Motion Control, 2012] 10
11 First CMG (excluded pictures of unpublished work in this online version) 11
12 Experimental Evaluation Daniel Lemus [Lemus&Vallery, 2014] [Lemus & Vallery: Towards Gyroscopic Balance Assistance: Proof of Concept, EMBC 2014] 12
13 Daniel Lemus Experimental Results k φ torque τ on pendulum (Nm) Pole angle φ (deg) [Lemus & Vallery: Towards Gyroscopic Balance Assistance: Proof of Concept, EMBC 2014] 13
14 Gyro backpack project Perturbation Mode 14
15 New Flywheel Design Collaboration with (excluded pictures of unpublished work in this online version) dbl.tudelft.nl 15
16 Prototype 1 Prototype 2 Prototype Version 1 Version 2 No. CMG 1 2 Gyroscopic Torque Total Weight Gyroscopic Torque sensing Up to 70Nm (Up to 200 Nm) ~ 18 kg ~ 14 kg None Yes (excluded pictures of unpublished work in this online version) Safety against parasitic torques None. Yes dbl.tudelft.nl 16
17 Singularity-Robust Control Andy Berry Non-singular Singular Andrew Berry Daniel Lemus Robert Babuška Heike Vallery Directional Singularity-Robust Torque Control for Gyroscopic Actuators Aug 2016, IEEE/ASME Transactions on Mechatronics dbl.tudelft.nl 17
18 Observer-based fall detection Charlotte Paiman Real System measurements + - OBSERVER Unscented Kalman Filter Paiman, C.; Lemus, D.; Short, D. & Vallery, H. Observing the state of balance with a single upper-body sensor Frontiers in Robotics and AI, 2016, 3 18
19 19 Fall Detection Collaboration with WOLK B.V.
20 Open Questions: High-Level Control Possible solution: Fall prevention as needed Vallery, H.; Bögel, A.; O'Brien, C. & Riener, R.: Cooperative Control Design for Robot- Assisted Balance during Gait. at- Automatisierungstechnik, 2012 dbl.tudelft.nl 20
21 Open Questions: Better Attachment Design (excluded details of unpublished work in this online version) dbl.tudelft.nl 21
22 Virtual Prototyping How do humans react to stabilizing moments to the upper body? How do humans react to moments in different directions? Which mathematical models describe this behavior? On the Lokomat On the FLOAT 22
23 Conclusion Control moment gyroscopes are a source of free moments and can substantially influence human balance Open questions: cost-effective production, choice of high-level control, user acceptance, evaluation... dbl.tudelft.nl 23
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