Passive double pendulum in the wake of a cylinder forced to rotate emulates a cyclic human walking gait
Passive double pendulum in the wake of a cylinder forced to rotate emulates a cyclic human walking gait
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被动双摆在圆柱体强制旋转后模拟人类循环行走步态
DOI：
10.1088/1748-3190/ac7022
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发表时间：
2022
影响因子：
3.4
通讯作者：
Modarres-Sadeghi, Yahya
中科院分区：
文献类型：
--
作者：
Carleton, Adrian G;Sup, Frank C;Modarres-Sadeghi, Yahya
本工作的目的是提出一种基于流固相互作用的方法，在被动双摆上强制执行所需的轨迹。在我们的实验中，被动式双摆代表人体大腿和小腿部分，流体与结构之间的相互作用来自于连接在双摆上的水翼，以及与放置在上游的圆柱体产生的涡流的相互作用。当圆柱体处于流动中时，在圆柱体的尾迹中会产生涡流。当圆柱体被迫周期性旋转时，可以通过控制圆柱体的旋转频率来控制其尾迹中产生的涡的频率。这些涡旋对任何放置在这个圆柱体尾迹上的结构施加周期性力。在我们的系统中，我们把一个两端装有水翼的双摆摆放置在旋转圆柱的尾迹上。旋涡在水翼上施加周期性力，从而迫使双摆振荡。控制气缸周期性旋转，测量双摆的位移。通过将双摆的关节位置与人类行走时的髋关节、膝关节和踝关节位置进行比较，我们展示了该系统如何仅利用旋涡和水翼之间的相互作用就能在双摆上生成人类行走的步态周期。
The goal of this work is to present a method based on fluid–structure interactions to enforce a desired trajectory on a passive double pendulum. In our experiments, the passive double pendulum represents human thigh and shank segments, and the interaction between the fluid and the structure comes from a hydrofoil attached to the double pendulum and interacting with the vortices that are shed from a cylinder placed upstream. When a cylinder is placed in flow, vortices are shed in the wake of the cylinder. When the cylinder is forced to rotate periodically, the frequency of the vortices that are shed in its wake can be controlled by controlling the frequency of cylinder's rotation. These vortices exert periodic forces on any structure placed in the wake of this cylinder. In our system, we place a double pendulum fitted with a hydrofoil at its distal end in the wake of a rotating cylinder. The vortices exert periodic forces on this hydrofoil which then forces the double pendulum to oscillate. We control the cylinder to rotate periodically, and measure the displacement of the double pendulum. By comparing the joint positions of the double pendulum with those of human hip, knee and ankle joint positions during walking, we show how the system is able to generate a human walking gait cycle on the double pendulum only using the interactions between the vortices and the hydrofoil.
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影响因子：
3.6
作者：
Bearman, P. W.
通讯作者：
Bearman, P. W.
影响因子：
3.7
作者：
Todd M. Currier;Adrian Carleton;Y. Modarres-Sadeghi
通讯作者：
Todd M. Currier;Adrian Carleton;Y. Modarres-Sadeghi
使用软无传感器步态辅助服进行水下行走
DOI：
--
发表时间：
2019
期刊：
IEEE/SICE International Symposium on System Integration
影响因子：
--
作者：
Tetsuro Miyazaki;Hiroshi Suzuki;Daisuke Morisaki;T. Kanno;Ryoken Miyazaki;Toshihiro Kawase;Y. Kawakami;K. Kawashima
通讯作者：
K. Kawashima
影响因子：
3.7
作者：
G. Assi;P. Bearman;B. Carmo;J. Meneghini;S. Sherwin;R. Willden
通讯作者：
G. Assi;P. Bearman;B. Carmo;J. Meneghini;S. Sherwin;R. Willden
影响因子：
3.7
作者：
Assi, G. R. S.;Bearman, P. W.;Meneghini, J. R.
通讯作者：
Meneghini, J. R.