A First Experience with Multidimensional Contact Real-Time Hybrid Substructuring: Toward Testing of Foot Prostheses

Arian Kist, Talhah Ansari, Christina Insam, Daniel Rixen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationDynamic Substructures, Volume 4 - Proceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics 2023
EditorsMatthew Allen, Walter D’Ambrogio, Dan Roettgen
PublisherSpringer
Pages33-42
Number of pages10
ISBN (Print)9783031366932
DOIs
StatePublished - 2024
EventProceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics 2023 - Austin, United States
Duration: 13 Feb 202316 Feb 2023

Publication series

NameConference Proceedings of the Society for Experimental Mechanics Series
ISSN (Print)2191-5644
ISSN (Electronic)2191-5652

Conference

ConferenceProceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics 2023
Country/TerritoryUnited States
CityAustin
Period13/02/2316/02/23

Keywords

  • Hardware-in-the-loop
  • Hybrid simulation
  • Passivity control
  • Prosthesis testing
  • Real-time hybrid substructuring

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