The clinical study of postural control requires a disturbance to be imposed to the subject under evaluation. Among various kinds of disturbance, a mechanical stimulation, consisting in an impulsive force impressed to a certain point of the body, can be used. This paper describes the study of a device conceived to generate such a disturbance. The device is based on a commercial pneumatic actuator, equipped with appropriate force and motion feedback sensors, and properly controlled. The major item is to take into account the interaction between the device and the human, in order to individuate the optimal control technique to generate the desired force pattern. A mathematical model of the device and the human-machine interaction is presented and a sliding mode control technique is proposed. Finally, the results of simulations are reported and discussed.

Control of force impulse in human-machine impact / DE BENEDICTIS, Carlo; Franco, Walter; Maffiodo, Daniela; Ferraresi, Carlo. - ELETTRONICO. - 49:(2018), pp. 956-964. (Intervento presentato al convegno RAAD 2017 tenutosi a Torino (Italia) nel 21-23 giugno 2017) [10.1007/978-3-319-61276-8_102].

Control of force impulse in human-machine impact

DE BENEDICTIS, CARLO;FRANCO, WALTER;MAFFIODO, DANIELA;FERRARESI, Carlo
2018

Abstract

The clinical study of postural control requires a disturbance to be imposed to the subject under evaluation. Among various kinds of disturbance, a mechanical stimulation, consisting in an impulsive force impressed to a certain point of the body, can be used. This paper describes the study of a device conceived to generate such a disturbance. The device is based on a commercial pneumatic actuator, equipped with appropriate force and motion feedback sensors, and properly controlled. The major item is to take into account the interaction between the device and the human, in order to individuate the optimal control technique to generate the desired force pattern. A mathematical model of the device and the human-machine interaction is presented and a sliding mode control technique is proposed. Finally, the results of simulations are reported and discussed.
2018
978-3-319-61276-8
File in questo prodotto:
File Dimensione Formato  
Raad2017-control of force impulse.pdf

non disponibili

Descrizione: Publisher post-print
Tipologia: 2a Post-print versione editoriale / Version of Record
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 353.33 kB
Formato Adobe PDF
353.33 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
RAAD2017_068_final_v2.pdf

accesso aperto

Descrizione: Author post-print
Tipologia: 2. Post-print / Author's Accepted Manuscript
Licenza: PUBBLICO - Tutti i diritti riservati
Dimensione 329.47 kB
Formato Adobe PDF
329.47 kB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2679186