Design and evaluation of pint-sized gyroscopic actuators

Cory Meijneke; Bram Sterke; Giel Hermans; Wouter Gregoor; Heike Vallery; Daniel Lemus

doi:10.1109/AIM46487.2021.9517637

Design and evaluation of pint-sized gyroscopic actuators

Cory Meijneke
, Bram Sterke
, Giel Hermans
, Wouter Gregoor
, Heike Vallery
, Daniel Lemus

Rehabilitation Medicine

Delft University of Technology

Research output: Chapter/Conference proceeding › Conference proceeding › Academic › peer-review

9 Citations (Scopus)

Abstract

One important aspect of gait stability is the control of whole-body centroidal angular momentum H. We recently showed that if sensory-motor impairments affect a person's balance control, control of H can be assisted by control moment gyroscopes (CMGs). However, the effect of CMG technology inherently depends on the size and weight of these actuators, and on the speed of the flywheels they contain. These factors all pose challenges for wearable applications. Here, we show that it is possible to design CMGs light enough for wearable applications, while generating meaningful output torques. Our CMG, weighing 1.187 kg, can exert a peak torque of 15 N m with a torque-tracking bandwidth of 18 Hz. These results are partly due to an integrated model of components and partly to advancements in flywheel velocity control, allowing the speed to safely reach 20 000 rpm. These actuators open up new pathways of building wearable assistive devices for clinical applications.

Original language	English
Title of host publication	2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	454-461
Number of pages	8
ISBN (Electronic)	9781665441391
DOIs	https://doi.org/10.1109/AIM46487.2021.9517637
Publication status	Published - 12 Jul 2021
Event	2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands Duration: 12 Jul 2021 → 16 Jul 2021

Publication series

Series	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2021-July

Conference

Conference	2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Country/Territory	Netherlands
City	Delft
Period	12/07/21 → 16/07/21

Bibliographical note

Funding Information:
This research was supported by the U.S. Department of Education, National Institute on Disability and Rehabilitation Research, NIDRR-RERC, Grant No. H133E120010, by the Innovational Research Incentives Scheme Vidi with Project No. 14865, from The Netherlands Organization for Scientific Research (NWO), and by Medical Delta.

Publisher Copyright:
© 2021 IEEE.

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10.1109/AIM46487.2021.9517637Licence: Unspecified

Cite this

Meijneke, Cory ; Sterke, Bram ; Hermans, Giel et al. / Design and evaluation of pint-sized gyroscopic actuators. 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 454-461 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 2021-July).

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title = "Design and evaluation of pint-sized gyroscopic actuators",

abstract = "One important aspect of gait stability is the control of whole-body centroidal angular momentum H. We recently showed that if sensory-motor impairments affect a person's balance control, control of H can be assisted by control moment gyroscopes (CMGs). However, the effect of CMG technology inherently depends on the size and weight of these actuators, and on the speed of the flywheels they contain. These factors all pose challenges for wearable applications. Here, we show that it is possible to design CMGs light enough for wearable applications, while generating meaningful output torques. Our CMG, weighing 1.187 kg, can exert a peak torque of 15 N m with a torque-tracking bandwidth of 18 Hz. These results are partly due to an integrated model of components and partly to advancements in flywheel velocity control, allowing the speed to safely reach 20 000 rpm. These actuators open up new pathways of building wearable assistive devices for clinical applications.",

author = "Cory Meijneke and Bram Sterke and Giel Hermans and Wouter Gregoor and Heike Vallery and Daniel Lemus",

note = "Funding Information: This research was supported by the U.S. Department of Education, National Institute on Disability and Rehabilitation Research, NIDRR-RERC, Grant No. H133E120010, by the Innovational Research Incentives Scheme Vidi with Project No. 14865, from The Netherlands Organization for Scientific Research (NWO), and by Medical Delta. Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 ; Conference date: 12-07-2021 Through 16-07-2021",

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Meijneke, C, Sterke, B, Hermans, G, Gregoor, W, Vallery, H & Lemus, D 2021, Design and evaluation of pint-sized gyroscopic actuators. in 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021. Institute of Electrical and Electronics Engineers Inc., IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2021-July, pp. 454-461, 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021, Delft, Netherlands, 12/07/21. https://doi.org/10.1109/AIM46487.2021.9517637

Design and evaluation of pint-sized gyroscopic actuators. / Meijneke, Cory; Sterke, Bram; Hermans, Giel et al.
2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 454-461 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 2021-July).

Research output: Chapter/Conference proceeding › Conference proceeding › Academic › peer-review

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AU - Lemus, Daniel

N1 - Funding Information: This research was supported by the U.S. Department of Education, National Institute on Disability and Rehabilitation Research, NIDRR-RERC, Grant No. H133E120010, by the Innovational Research Incentives Scheme Vidi with Project No. 14865, from The Netherlands Organization for Scientific Research (NWO), and by Medical Delta. Publisher Copyright: © 2021 IEEE.

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N2 - One important aspect of gait stability is the control of whole-body centroidal angular momentum H. We recently showed that if sensory-motor impairments affect a person's balance control, control of H can be assisted by control moment gyroscopes (CMGs). However, the effect of CMG technology inherently depends on the size and weight of these actuators, and on the speed of the flywheels they contain. These factors all pose challenges for wearable applications. Here, we show that it is possible to design CMGs light enough for wearable applications, while generating meaningful output torques. Our CMG, weighing 1.187 kg, can exert a peak torque of 15 N m with a torque-tracking bandwidth of 18 Hz. These results are partly due to an integrated model of components and partly to advancements in flywheel velocity control, allowing the speed to safely reach 20 000 rpm. These actuators open up new pathways of building wearable assistive devices for clinical applications.

AB - One important aspect of gait stability is the control of whole-body centroidal angular momentum H. We recently showed that if sensory-motor impairments affect a person's balance control, control of H can be assisted by control moment gyroscopes (CMGs). However, the effect of CMG technology inherently depends on the size and weight of these actuators, and on the speed of the flywheels they contain. These factors all pose challenges for wearable applications. Here, we show that it is possible to design CMGs light enough for wearable applications, while generating meaningful output torques. Our CMG, weighing 1.187 kg, can exert a peak torque of 15 N m with a torque-tracking bandwidth of 18 Hz. These results are partly due to an integrated model of components and partly to advancements in flywheel velocity control, allowing the speed to safely reach 20 000 rpm. These actuators open up new pathways of building wearable assistive devices for clinical applications.

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Meijneke C, Sterke B, Hermans G, Gregoor W, Vallery H, Lemus D. Design and evaluation of pint-sized gyroscopic actuators. In 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 454-461. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 2021-July). doi: 10.1109/AIM46487.2021.9517637

Design and evaluation of pint-sized gyroscopic actuators

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