Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control
Abstract
:1. Introduction
2. Materials and Methods
2.1. The Automatic Perturbator (AP)
2.2. The Test-Bench
- Cylinder Ca: ISO 15552 model (Metal Work S.p.A., Italy); stroke: 120 mm; bore: 32 mm; weight: 3 kg; moving mass: 0.18 kg; provided with Nitrile Butadiene Rubber seals;
- Cylinder Cb: MQMLB25TFH-100D model (SMC Corporation, Japan); stroke: 100 mm; bore: 25 mm; weight: 2.7 kg; moving mass: 0.15 kg; a metal seal ultra-low friction cylinder with minimum working pressure 0.005 MPa;
- Valve Va: 3AF2 model (CKD Co. Ltd., Japan); pressure range 0–10 bar; max conductance 1.97 × 10−8 (Nm3)/(sPa); critical ratio 0.14; dead band 0.5 V;
- Valve Vb: LRWD2-34 model (Camozzi Automation S.p.A., Italy); pressure range 0–10 bar; max conductance 1.68 × 10−8 (Nm3)/(sPa); critical ratio 0.36; dead band 0.2 V.
3. Analytical Model of the HIL Equipment
3.1. The Mechanical Impedance of the Subject and the Operator
3.2. Proportional Valves
3.3. Pneumatic Cylinder
3.4. Stricken Body
4. Control Strategies of the HIL Equipment
4.1. AP Control Architecture
4.2. Control Logic Implementation
- control system of the impact phase;
- control system of the desired force profile;
- selection of operative phases;
- model of dynamic system.
- Idle: the voltage of each valve is reduced to zero. It is the starting condition of the whole system;
- Approach: the rear chamber of the actuator is supplied while the front chamber is discharged, to move the piston rod from the initial retracted condition towards the subject’s mass;
- Strike: a PI controller is used to modulate the valves’ command signals in order to reduce the difference between the desired force (set) and the feedback signal from the load cell;
- Return: the actuator’s front chamber is supplied and the rear chamber is discharged to perform the high speed retraction of piston.
5. Simulations
6. Experimental Trials
7. Conclusions
8. Patents
Author Contributions
Funding
Conflicts of Interest
References
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Number | Component |
---|---|
1 | Viscoelastic dampers (×2) |
2 | Flow-proportional valves (×2) |
3 | Support for load cell |
4 | Target for optical sensor |
5 | Load Cell, range 50 kgf (UMM, Dacell Co. Ltd., Cheongju, Korea) |
6 | Linear potentiometer PZ-34-A-100 (Gefran S.p.A., Provaglio D’Iseo, Italy) (×2) |
7 | Support for the stricken mass |
8 | Stricken mass, representing the subject |
9 | Linear guide C-SHR28-1000-B4 (MISUMI Europa GmbH, Frankfurt am Main, Germany) (×2) |
10 | Laser sensor Q4XTULAF300-Q8 (Banner Engineering Corp., Plymouth (MN), USA) |
11 | Pneumatic actuator |
12 | Support for cylinder |
13 | Cart (×8) |
14 | Support for viscoelastic damper (×2) |
15 | Perturbator end striker |
16 | Support for the potentiometer |
Symbol | Description | Unit |
---|---|---|
ds | Diameter of the piston rod | mm |
dc | Diameter of the cylinder | mm |
m | Mass of the piston and rod | kg |
M1 | Mass of the cylinder body | kg |
M2 | Mass of the subject | kg |
x0 | Half of the stroke of the rod | mm |
xm | Dead band of the chamber | mm |
Pi | Initial pressure in the chamber | bar |
Ti | Initial temperature in the chamber | K |
n | Polytropic coefficient of air | |
γ | Viscous coefficient of air | N∙s/m |
Ps | Supply pressure | bar |
Ffr | Friction force on the piston rod | N |
Cmax | Max conductance of the valve | L/(s∙bar) |
Vmax | Max command voltage of the valve | V |
Kv | Static flow gain of the valve | L/(s∙bar∙V) |
τ | Valve response time | ms |
k1 | Elastic constant of the operator | N/m |
β1 | Damping coefficient of the operator | N∙s/m |
k2 | Elastic constant of the subject | N/m |
β2 | Damping coefficient of the subject | N∙s/m |
k3 | Elastic constant of the buffer | N/m |
β3 | Damping coefficient of the buffer | N∙s/m |
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Ferraresi, C.; Maffiodo, D.; Franco, W.; Muscolo, G.G.; De Benedictis, C.; Paterna, M.; Pica, O.W.; Genovese, M.; Pacheco Quiñones, D.; Roatta, S.; et al. Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control. Appl. Sci. 2020, 10, 8886. https://doi.org/10.3390/app10248886
Ferraresi C, Maffiodo D, Franco W, Muscolo GG, De Benedictis C, Paterna M, Pica OW, Genovese M, Pacheco Quiñones D, Roatta S, et al. Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control. Applied Sciences. 2020; 10(24):8886. https://doi.org/10.3390/app10248886
Chicago/Turabian StyleFerraresi, Carlo, Daniela Maffiodo, Walter Franco, Giovanni Gerardo Muscolo, Carlo De Benedictis, Maria Paterna, Oliviero Walter Pica, Marco Genovese, Daniel Pacheco Quiñones, Silvestro Roatta, and et al. 2020. "Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control" Applied Sciences 10, no. 24: 8886. https://doi.org/10.3390/app10248886