Mechatronics最新文献

{"title":"Adaptive model-free control for ankle-assistive orthosis: A robust approach to real-time gait tracking","authors":"Oussama Bey,&nbsp;Yacine Amirat,&nbsp;Samer Mohammed","doi":"10.1016/j.mechatronics.2025.103341","DOIUrl":"10.1016/j.mechatronics.2025.103341","url":null,"abstract":"<div><div>Actuated Ankle-Foot Orthoses (AAFOs) assist dorsiflexion and plantarflexion movements at the ankle joint, supporting mobility and rehabilitation by complementing the wearer’s residual muscular activity within an assist-as-needed paradigm. Their effectiveness depends on advanced control strategies and accurate modeling of the coupled human-AAFO dynamics, which remains a challenging task. This paper presents a novel assist-as-needed control approach for an AAFO/wearer system based on an adaptive model-free framework, without the need for a dynamic model of the AAFO/wearer system. The proposed approach uses an ultra-local model, wherein a intelligent projection-based adaptive PID (iA-PID) controller is designed to achieve satisfactory tracking of a reference ankle joint trajectory. External torques affecting the AAFO/wearer system are estimated using a time-delay estimator and are compensated within the iPA-PID controller to ensure assist-as-needed control. Additionally, the projection operator constrains the evolution of the adaptive parameters, preventing actuator saturation and enabling controlled assistance delivery. Finite-time stability of the resulting closed-loop system is proven, and the final value theorem ensures that the tracking error converges to zero. The performance of the proposed approach is evaluated through simulations and real-time experiments with four healthy subjects. A comparison of tracking performance with several benchmark approaches was conducted as well as robustness tests under varying walking speeds to confirm the effectiveness and reliability of the proposed control approach.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103341"},"PeriodicalIF":3.1,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144169443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A real-time lane change trajectory planning approach for autonomous vehicles utilizing tire force prediction","authors":"Lin Li ,&nbsp;Serdar Coskun ,&nbsp;Youming Fan ,&nbsp;Caiguang Yu ,&nbsp;Fengqi Zhang","doi":"10.1016/j.mechatronics.2025.103351","DOIUrl":"10.1016/j.mechatronics.2025.103351","url":null,"abstract":"<div><div>For lane change behavior under extreme operating conditions, existing models cannot calculate in real time the tire force of the vehicle lane change over a sufficiently long time frame in the future. In order to address this problem, a novel scheme is presented for real-time trajectory planning of autonomous vehicles, which incorporates personalized vehicle dynamics. We first establish lateral dynamics models for four-wheel-steering and front-wheel-steering vehicles along with a nonlinear tire model. Then, we construct a fuzzy logic mechanism to characterize the relationship between the vehicle lateral/longitudinal acceleration and the future lateral/longitudinal tire force, to quantify whether the vehicle tire force reaches saturation in trajectory planning in real time. A safety assessment model is introduced to measure the risk of side slippage of the vehicle and collision under extreme operating conditions. In addition, lane change behavior is designed as a nonlinear programming model and a gradient descent method is used to obtain optimal lateral and longitudinal accelerations online. The geometric curve fitting method is utilized to generate the lane change trajectory. The simulation results using MATLAB/Simulink demonstrate that the solution time of our method is significantly lower than that of the widely used vehicle dynamics method and the newest Neural Network method, which can realize real-time prediction of the maximum tire force before lane change. Moreover, our method improves the ability to calculate the risk of longitudinal and lateral coupling of a lane change in extreme operating conditions and then realizes trajectory planning in a vehicle-dynamics-specific way.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103351"},"PeriodicalIF":3.1,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144169454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamic modeling of a curling HASEL actuator using the port Hamiltonian framework with experimental validation","authors":"Nelson Cisneros,&nbsp;Yongxin Wu,&nbsp;Kanty Rabenorosoa,&nbsp;Yann Le Gorrec","doi":"10.1016/j.mechatronics.2025.103342","DOIUrl":"10.1016/j.mechatronics.2025.103342","url":null,"abstract":"<div><div>This paper addresses the modeling, parameter identification, and validation of curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuators using the port Hamiltonian (PH) framework. Employing a modular approach, the HASEL actuator is conceptualized as a combination of elementary subsystems. Each subsystem includes electrical and mechanical components. The electrical component is characterized by a variable capacitor in parallel with a resistor branch, which is in series with another capacitor that is also in parallel with a resistor branch, representing charge retention-related drift. The mechanical component consists of linear and torsional springs connected to an equivalent mass. The parameters of the proposed model were identified using the Levenberg–Marquardt optimization algorithm with data from the developed experimental setup. Additional sets of experimental data were used to validate the obtained model.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103342"},"PeriodicalIF":3.1,"publicationDate":"2025-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144147966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Global optimum motion profiles for enhanced energy efficiency in industrial positioning applications","authors":"Robbe De Laet ,&nbsp;Nick Van Oosterwyck ,&nbsp;Annie Cuyt ,&nbsp;Stijn Derammelaere","doi":"10.1016/j.mechatronics.2025.103352","DOIUrl":"10.1016/j.mechatronics.2025.103352","url":null,"abstract":"<div><div>Point-to-point mechanisms are widely used in industry. The electric motors driving these mechanisms are responsible for a significant portion of the global energy consumption. Therefore, it is essential to consider methods and technologies to reduce their energy consumption. Motion profile optimization offers a cost-effective opportunity to reduce energy consumption without the need for additional hardware adaptations or investments. Hence, it is crucial to discover the global optimum, representing the overall best solution across the entire design space, to ensure that the full optimization potential is realized, rather than settling for a local optimum, which may only represent a superior solution within a limited region of the design space. The latter remains a challenge in the current literature. This paper introduces a novel approach that utilizes interval analysis to guarantee the discovery of the global optimum within the design space. It achieves this by dividing the design space into smaller intervals, employing interval arithmetic to evaluate the functions over these intervals, and systematically eliminating and refining the intervals to pinpoint the location of the global optimum. However, to use interval analysis, a bounded design space is required. Therefore, this paper describes the motion profile using polynomials expressed in the Chebyshev basis, offering the advantage of a bounded design space and a minimal number of design parameters compared to polynomials expressed in the classical basis. Additionally, this paper shows that symbolically formulating the motion profile allows linearization of the kinematic constraints, enhancing the computational efficiency and convergence speed of interval analysis. Furthermore, a method for reducing the initial design space is introduced, as the initial bounded design space tends to overestimate the feasible design space. Refining the design space enables interval analysis to require fewer evaluations, facilitating faster optimization. To allow wide industrial adoption of the proposed method, the system properties <span><math><mrow><mi>J</mi><mrow><mo>(</mo><mi>θ</mi><mo>)</mo></mrow></mrow></math></span> and <span><math><mrow><msub><mrow><mi>T</mi></mrow><mrow><mi>l</mi></mrow></msub><mrow><mo>(</mo><mi>θ</mi><mo>)</mo></mrow></mrow></math></span> are extracted from CAD simulations to build the objective function. Finally, measurements indicate a reduction in root-mean-square (rms) torque of a pick-and-place unit by up to 38.4% and a reduction in energy consumption of up to 51.2%, validating the proposed approach’s effectiveness.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103352"},"PeriodicalIF":3.1,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144138635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An iterative algorithm to symbolically derive generalized n-trailer vehicle kinematics","authors":"Yuvraj Singh ,&nbsp;Adithya Jayakumar ,&nbsp;Giorgio Rizzoni","doi":"10.1016/j.mechatronics.2025.103350","DOIUrl":"10.1016/j.mechatronics.2025.103350","url":null,"abstract":"<div><div>Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized <span><math><mi>n</mi></math></span>-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for <span><math><mi>n</mi></math></span>-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103350"},"PeriodicalIF":3.1,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Koopman-based modeling and control of motion systems with hysteresis dynamics using partial state feedback","authors":"Michael Pumphrey ,&nbsp;Almuatazbellah M. Boker ,&nbsp;Mohammad Al Janaideh","doi":"10.1016/j.mechatronics.2025.103338","DOIUrl":"10.1016/j.mechatronics.2025.103338","url":null,"abstract":"<div><div>Koopman operator theory represents nonlinear dynamical systems as linear systems in an extended state-space. By selecting observable functions composed of derivatives and functions of derivatives derived from the system output, it is possible to model the system without requiring knowledge of its internal states. The Koopman observable functions are iteratively refined to achieve close alignment with the original system dynamics. The resulting linear model in the extended space is then incorporated into a linear quadratic tracker (LQT) framework, enabling the system output to track a desired reference signal. The proposed method is demonstrated on a mechanical motion system with Bouc–Wen hysteresis, where the Koopman-based model and LQT provide robust control of the nonlinear system and can track a smooth trapezoidal step-scan trajectory for wafer scanner machines. The controller was also compared to a traditional PID controller, showing improved performance over the trajectory. Furthermore, simulation results demonstrate the controller’s robustness against varying initial conditions, parameter uncertainties, and external disturbances.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103338"},"PeriodicalIF":3.1,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Passivity-constrained variable impedance control based on hierarchical decoupling controller for hydraulic manipulators","authors":"Jun Shen ,&nbsp;Lizhou Fang ,&nbsp;Kun Zhang ,&nbsp;Huaizhi Zong ,&nbsp;Min Cheng ,&nbsp;Ruqi Ding ,&nbsp;Junhui Zhang ,&nbsp;Bing Xu","doi":"10.1016/j.mechatronics.2025.103340","DOIUrl":"10.1016/j.mechatronics.2025.103340","url":null,"abstract":"<div><div>Impedance control makes the manipulator compliant by regulating the dynamic behavior between the environment and itself. As contact-based applications become more complex, variable impedance control has attracted more attention. However, variable impedance control can cause instability when directly switching impedance parameters, which is a conflict between maintaining the passivity and varying impedance parameters. To solve this conflict, a novel passivity-constrained variable impedance controller for hydraulic manipulators is proposed within the framework of model predictive control. With the impedance relationship and the manipulator dynamics integrated into a prediction model, the proposed strategy utilizes the passivity constraint and the impedance error cost to achieve an optimized tradeoff between passivity guarantee and impedance variation. Furthermore, the inner-loop motion of the hydraulic manipulator is controlled by the hierarchical decoupling controller with the manipulator dynamics and the nonlinearity of the valve-controlled cylinder system considered. The effectiveness of this method was verified by experiments on a heavy-duty hydraulic manipulator. Compared with the traditional method, the proposed method can improve the passivity while ensuring the timely modulation of impedance parameters.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103340"},"PeriodicalIF":3.1,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144072640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Real-time visual pose estimation: from BOP objects to custom drone — A journey","authors":"Thomas Rey ,&nbsp;Julien Moras ,&nbsp;Alexandre Eudes ,&nbsp;Antoine Manzanera","doi":"10.1016/j.mechatronics.2025.103339","DOIUrl":"10.1016/j.mechatronics.2025.103339","url":null,"abstract":"<div><div>Pose estimation plays a crucial role in robotics for prehension tasks or in augmented-reality application, yet its application on real-world far-range estimation has not been thoroughly studied. This study aims to evaluate pose estimators on a custom drone at distances from 0.5 m to 10 m, which is beyond the scope of existing datasets, that only contain objects close to less than 2 m. We created synthetic and real databases specific to our drone and compared various RGB pose estimators, evaluating their performance across different distances. PViT-6D, being one of the SoTA methods on the classic [0,2] m interval, also outperforms others estimators at greater distances, and proves robust with respect to detection inaccuracy. The results demonstrate the potential of PViT-6D to be used on a real time application embedded in the drone platform. This work aims to evaluate the potential of pose estimators for mutual perception and communication within a drone swarm.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103339"},"PeriodicalIF":3.1,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144069761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A visco-elastic actuator with linear gas spring and variable damping","authors":"Florian C. Loeffl ,&nbsp;Fabian Beck ,&nbsp;Jinoh Lee ,&nbsp;MinJun Kim ,&nbsp;Manuel Keppler","doi":"10.1016/j.mechatronics.2025.103334","DOIUrl":"10.1016/j.mechatronics.2025.103334","url":null,"abstract":"<div><div>Series elastic actuators (SEAs) enhance safety and robustness in robotic joints but sacrifice torque and motion bandwidth compared to rigid actuators. Variable viscoelastic actuators (VVEAs) overcome these limitations by integrating an adjustable damping element with a spring, balancing open-loop torque bandwidth with impact safety and robustness. However, most existing VVEA designs rely on mechanical springs that add significant weight. We introduce a lightweight VVEA based on a pneumatic spring design. This actuator achieves linear, offline-adjustable stiffness using antagonistic gas chambers and provides online-adjustable damping via a hydraulic throttle valve. In our design, the increasing force of one chamber is moderated by the decreasing force of the other, resulting in a measured maximal deviation of 12% from the linear model. Additionally, an elastic silicone cast bladder replaces the conventional ring-shaped piston, significantly reducing breakaway force. To evaluate its benefits over standard actuators, we applied optimal control to periodic rest-to-rest motions typical of pick-and-place tasks. Based on mean tracking error, the VVEA outperforms SEAs in 29.1% of trials and rigid actuators in 89.2% of trials. Although increasing damping improves performance, it compromises safety; our optimization study demonstrates the potential of an online variable damping setpoint to balance these trade-offs. These results suggest that VVEAs hold great promise for applications requiring rapid maneuvers and enhanced impact safety and robustness.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103334"},"PeriodicalIF":3.1,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143941215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Smart infrastructure and autonomous vehicles: Ensuring safety and efficiency in urban traffic with Control Barrier Functions","authors":"Filippo Bernabei,&nbsp;Cristian Secchi","doi":"10.1016/j.mechatronics.2025.103332","DOIUrl":"10.1016/j.mechatronics.2025.103332","url":null,"abstract":"<div><div>Autonomous vehicles have the potential to transform urban transportation by improving road safety, efficiency, and accessibility. However, urban environments present unique challenges, such as complex traffic dynamics, uncertain obstacles, and limited visibility, necessitating advanced control strategies. This paper builds on previous work to refine a Control Barrier Function-based framework for autonomous vehicles by integrating Vehicle-to-Infrastructure (V2I) communication. Through pairwise CBFs, the proposed architecture utilizes infrastructure-based sensors to enhance situational awareness and decision-making, addressing limitations of onboard sensors alone.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103332"},"PeriodicalIF":3.1,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143941214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}