Brayden DeBoon

University of Ontario Institute of Technology

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Carlos Rossa

Carleton University

Scott B. Nokleby

University of Ontario Institute of Technology

Nicholas J. La Delfa

University of Ontario Institute of Technology

MŁ

Maciej Łącki

University of Ontario Institute of Technology

R Rivero Carlos

Nokleby Scott

Sreeraman Rajan

Carleton University

Samuel Lovett

Carleton University

Brayden Kent

University of Ontario Institute of Technology

Nokleby Scott

Cooperative Institutions

University of Ontario Institute of Technology

Carleton University

University of Victoria

First Technical University

University of Catania

Institute of Electrical and Electronics Engineers

University of British Columbia

Institute of Navigation

Defence Research and Development Canada

University of Ottawa

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Impact of Kinematic Structure on the Force Displayability of Planar Passive Haptic Devices

IEEE Transactions on Haptics (2020)

Maciej Ła̧cki Brayden DeBoon Carlos Rossa

Haptic devices containing passive actuators, such as controllable brakes or dampers, are an attractive alternative to their motor-driven counterparts due to intrinsic stability and improved impedance bandwidth. Passive actuators cannot generate energy and, therefore, the output force can only oppose the applied velocity. In the same way the kinematic structure of traditional manipulators is designed to maximize dexterity and manipulability, one must consider adapting the device topology to optimize force displayability when designing passive actuators. This article introduces a set of metrics to evaluate and compare the performance of 2-degree-of-freedom (DOF) serial and parallel passive haptic devices. These metrics consider the impact of the kinematic structure on the force displayability according to the directions of the device velocity and desired force. Applying these metrics to nine manipulators revealed that: 1.) serial manipulators can generate passive forces in all directions equally regardless of the link length ratio; 2.) the base link length of five-bar parallel manipulators strongly influences passive force displayability; 3.) five-bar parallel manipulators with the base link length of zero can generate the widest range of passive forces when all links have the same length. The novel performance metrics presented in this paper can aid in the design of 2-DOF passive haptic devices.

10.1109/toh.2020.2970906

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Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators

Brayden DeBoon Scott B. Nokleby Carlos Rossa

Series elastic actuators with passive compliance have been gaining increasing popularity in force-controlled robotic manipulators. One of the reasons is the actuator's ability to infer the applied torque by measuring the deflection of the elastic element as opposed to directly with dedicated torque sensors. Proper deflection control is pinnacle to achieve a desired output torque and, therefore, small deviances in positional measurements or a nonlinear deformation can have adverse effects on performance. In applications with larger torque requirements, the actuators typically use gear reductions which inherently result in mechanical backlash. This combined with the nonlinear behaviour of the elastic element and unmodelled dynamics, can severely compromise force fidelity.This paper proposes a backlash compensating active disturbance rejection controller (ADRC) for multi-input series elastic actuators. In addition to proper deflection control, a multiinput active disturbance rejection controller is derived and implemented experimentally to mitigate any unmodelled nonlinearities or perturbations to the plant model. The controller is experimentally validated on a hybrid motor-brake-clutch series elastic actuator and the controller performance is compared against traditional error-based controllers. It is shown that the backlash compensated ADRC outperforms classical PID and ADRC methods and is a viable solution to positional measurement error in elastic actuators.

10.1109/icra40945.2020.9196657

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Differentially-Clutched Series Elastic Actuator for Robot-Aided Musculoskeletal Rehabilitation

2022 International Conference on Robotics and Automation (ICRA) (2019)

Brayden DeBoon Scott B. Nokleby Nicholas J. La Delfa Carlos Rossa

Series elastic actuators have proven to be an elegant response to the issue of safety around human-robot interaction. The compliant nature of series elastic actuators provides the potential to be applied in robot-aided rehabilitation for patients with upper and lower limb musculoskeletal injuries. This paper proposes a new series elastic actuator to be used in robot-aided musculoskeletal rehabilitation. The actuator is composed of a DC motor, a torsion spring, and a magnetic particle brake coupled to one common output shaft through a differential gear. The proposed topology focuses on three types of actuation modes most commonly used in rehabilitation, i.e., free motion, elastic, and assistive/resistive motion. A dynamic model of the actuator is presented and validated experimentally and the ability of the actuator to follow a reference torque is shown in different experimental scenarios.

Rotary actuator

Rehabilitation robotics

10.1109/icra.2019.8793586

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Citations (19)

Multi-objective gain optimizer for a multi-input active disturbance rejection controller: Application to series elastic actuators

Control Engineering Practice (2021)

Brayden DeBoon Scott B. Nokleby Carlos Rossa

Feedback linearization

10.1016/j.conengprac.2021.104733

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Multi-Objective Gain Optimizer for an Active Disturbance Rejection Controller

Brayden DeBoon Brayden Kent Maciej Ła̧cki Scott B. Nokleby Carlos Rossa

Active Disturbance Rejection Control (ADRC) has proven to be an efficient control method, however, the tuning of its parameters is a complicated endeavor. This paper explores the use of reference point based dominance in the traditional multi-objective non-dominated sorting genetic algorithm (NSGA-II) to perform the parameter tuning. The algorithm is applied to a simulation and physical implementation of an inverted pendulum system. The optimization method generated values that offered suitable performance among various fronts.

10.1109/globalsip45357.2019.8969275

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Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

Journal of Biomechanical Engineering (2020)

Brayden DeBoon Ryan C. A. Foley Scott B. Nokleby Nicholas J. La Delfa Carlos Rossa

The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

Work space

10.1115/1.4048573

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Level Plane SLAM: Out-of-Plane Motion Compensation in a Globally Stabilized Coordinate Frame for 2D SLAM

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (2023)

Samuel Lovett Tyler Paquette Brayden DeBoon Sreeraman Rajan Carlos Rossa

Two-dimensional (2D) simultaneous localization and mapping (SLAM) using a LIDAR is a method used to track the position and orientation of a moving platform. 2D-SLAM assumes that the platform translates in a 2D plane and can only rotate about an axis perpendicular to that plane. However, the assumption of no out-of-plane (OOP) motion does not hold true for platforms experiencing motion in six degrees-of-freedom (6-DOF), such as wearable technologies that have no 3D LIDAR. This paper proposes a new algorithm, called the Level Plane for SLAM (LPS) for removing OOP motion from 2D-LIDAR scans generated on platforms experiencing 6-DOF without requiring scan-matching in 3D. Like other existing methods, an IMU is combined with a 2D-LIDAR to determine the platform's orientation, capture OOP motion, and generate a scan in $3\mathrm{D}$ . Unlike other methods, OOP motion is removed by projecting scans onto a globally stabilized coordinate frame in $2\mathbf{D}$ where both scan matching and map alignment take place. The proposed algorithm is validated over a series of experiments with different levels of induced and observed OOP motion. Experimental results show that LPS is able to handle more OOP motion than other algorithms and run in real-time.

Position (finance)

10.1109/smc53992.2023.10394614

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Citations (1)

非線形多入力直列弾性アクチュエータのバックラッシュ補償アクティブ外乱除去制御【JST・京大機械翻訳】

IEEE Conference Proceedings (2020)

Brayden DeBoon Nokleby Scott Rossa Carlos

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Multimodal series elastic actuator for human-machine interaction with applications in robot-aided rehabilitation

Brayden DeBoon