TY - GEN
T1 - A First Experience with Multidimensional Contact Real-Time Hybrid Substructuring
T2 - Proceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics 2023
AU - Kist, Arian
AU - Ansari, Talhah
AU - Insam, Christina
AU - Rixen, Daniel
N1 - Publisher Copyright:
© 2024, The Society for Experimental Mechanics, Inc.
PY - 2024
Y1 - 2024
N2 - Real-time hybrid substructuring (RTHS) is a promising approach to investigate the influence of foot prostheses on the gait pattern in versatile situations, while avoiding the necessity to model the prosthesis and its ground interaction. A numerical gait simulation is coupled in real-time to a prosthesis prototype on a test rig using sensors and actuators. However, synchronization errors make such experiments prone to instabilities. Thus, methods are required to ensure robust and stable RTHS experiments. In previous work, we developed promising methods using a one-dimensional contact RTHS experiment. In this contribution, we show our first experience with multidimensional contact RTHS in order to take the next step to enable foot prosthesis RTHS experiments. We present the design of a simplified planar foot prosthesis RTHS setup. Furthermore, we show the first results of a virtual RTHS test, where test stability is ensured through the application of normalized passivity control (NPC). From these results, we conclude that our approach is promising to extend our previously developed methods to the multidimensional case.
AB - Real-time hybrid substructuring (RTHS) is a promising approach to investigate the influence of foot prostheses on the gait pattern in versatile situations, while avoiding the necessity to model the prosthesis and its ground interaction. A numerical gait simulation is coupled in real-time to a prosthesis prototype on a test rig using sensors and actuators. However, synchronization errors make such experiments prone to instabilities. Thus, methods are required to ensure robust and stable RTHS experiments. In previous work, we developed promising methods using a one-dimensional contact RTHS experiment. In this contribution, we show our first experience with multidimensional contact RTHS in order to take the next step to enable foot prosthesis RTHS experiments. We present the design of a simplified planar foot prosthesis RTHS setup. Furthermore, we show the first results of a virtual RTHS test, where test stability is ensured through the application of normalized passivity control (NPC). From these results, we conclude that our approach is promising to extend our previously developed methods to the multidimensional case.
KW - Hardware-in-the-loop
KW - Hybrid simulation
KW - Passivity control
KW - Prosthesis testing
KW - Real-time hybrid substructuring
UR - http://www.scopus.com/inward/record.url?scp=85174638615&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-36694-9_5
DO - 10.1007/978-3-031-36694-9_5
M3 - Conference contribution
AN - SCOPUS:85174638615
SN - 9783031366932
T3 - Conference Proceedings of the Society for Experimental Mechanics Series
SP - 33
EP - 42
BT - Dynamic Substructures, Volume 4 - Proceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics 2023
A2 - Allen, Matthew
A2 - D’Ambrogio, Walter
A2 - Roettgen, Dan
PB - Springer
Y2 - 13 February 2023 through 16 February 2023
ER -