The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform
Volkan Patoglu - One of the best experts on this subject based on the ideXlab platform.
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Efficacy of Haptic Pedal Feel Compensation on Driving With Regenerative Braking
IEEE Transactions on Haptics, 2020Co-Authors: Umut Caliskan, Volkan PatogluAbstract:In this article, we study the efficacy of haptic Pedal feel compensation on driving safety and performance during regenerative braking. In particular, we evaluate the effectiveness of the preservation of the natural brake Pedal feel under two-Pedal cooperative braking and one-Pedal driving scenarios, through human subject experiments in a simulated vehicle pursuit task. The experimental results indicate that Pedal feel compensation can significantly decrease the hard braking instances, improving safety for both two-Pedal cooperative braking and one-Pedal driving conditions. Volunteers strongly prefer compensation, while they equally prefer and can effectively utilize two-Pedal and one-Pedal driving conditions. The beneficial effects of haptic Pedal feel compensation on safety is evaluated to be larger for the two-Pedal cooperative braking condition, as lack of compensation results in stiffening/softening Pedal feel characteristics in this case.
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IROS - A Series Elastic Brake Pedal to Preserve Conventional Pedal Feel under Regenerative Braking
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Umut Caliskan, Ardan Apaydin, Ata Otaran, Volkan PatogluAbstract:We propose a force-feedback brake Pedal with series elastic actuation to preserve the conventional brake Pedal feel during cooperative regenerative braking. The novelty of the proposed design is due to the deliberate introduction of a compliant element between the actuator and the brake Pedal whose deflections are measured to estimate interaction forces and to perform closed-loop force control. Thanks to its series elasticity, the force-feedback brake Pedal can utilize robust controllers to achieve high fidelity force control, possesses favorable output impedance characteristics over the entire frequency spectrum, and can be implemented in a compact package using low-cost components. The applicability and effectiveness of the proposed series elastic brake Pedal have been tested through human subject experiments that evaluate simulated cooperative regenerative braking scenarios with and without Pedal feel compensation. The experimental results and responses to the accompanying questionnaire indicate that Pedal feel compensation through the series elastic brake Pedal can significantly decrease hard braking instances, improving safety and driver experience.
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A Series Elastic Brake Pedal to Preserve Conventional Pedal Feel under Regenerative Braking
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Umut Caliskan, Ardan Apaydin, Ata Otaran, Volkan PatogluAbstract:We propose a force-feedback brake Pedal with series elastic actuation to preserve the conventional brake Pedal feel during cooperative regenerative braking. The novelty of the proposed design is due to the deliberate introduction of a compliant element between the actuator and the brake Pedal whose deflections are measured to estimate interaction forces and to perform closed-loop force control. Thanks to its series elasticity, the force-feedback brake Pedal can utilize robust controllers to achieve high fidelity force control, possesses favorable output impedance characteristics over the entire frequency spectrum, and can be implemented in a compact package using low-cost components. The applicability and effectiveness of the proposed series elastic brake Pedal have been tested through human subject experiments that evaluate simulated cooperative regenerative braking scenarios with and without Pedal feel compensation. The experimental results and responses to the accompanying questionnaire indicate that Pedal feel compensation through the series elastic brake Pedal can significantly decrease hard braking instances, improving safety and driver experience.
Constantinos Mavroidis - One of the best experts on this subject based on the ideXlab platform.
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Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation
Journal of NeuroEngineering and Rehabilitation, 2014Co-Authors: Richard G. Ranky, Mark L. Sivak, Venkata K. Gade, Judith E. Deutsch, Jeffrey A. Lewis, Constantinos MavroidisAbstract:Background Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity. Methods In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) Pedals that monitor Pedal kinematics with an inertial measurement unit (IMU) and forces on the Pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and Pedal systems is presented for calibration of the sensors detecting force and angle. Results The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented Pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the Pedal system and successfully monitored kinetic and kinematic parameters of the rider’s lower extremities. Conclusions The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders.
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Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation
Journal of NeuroEngineering and Rehabilitation, 2014Co-Authors: Richard G. Ranky, Mark L. Sivak, Venkata K. Gade, Judith E. Deutsch, Jeffrey A. Lewis, Constantinos MavroidisAbstract:BACKGROUND: Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity.\n\nMETHODS: In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) Pedals that monitor Pedal kinematics with an inertial measurement unit (IMU) and forces on the Pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and Pedal systems is presented for calibration of the sensors detecting force and angle.\n\nRESULTS: The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented Pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the Pedal system and successfully monitored kinetic and kinematic parameters of the rider's lower extremities.\n\nCONCLUSIONS: The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders.
Umut Caliskan - One of the best experts on this subject based on the ideXlab platform.
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Efficacy of Haptic Pedal Feel Compensation on Driving With Regenerative Braking
IEEE Transactions on Haptics, 2020Co-Authors: Umut Caliskan, Volkan PatogluAbstract:In this article, we study the efficacy of haptic Pedal feel compensation on driving safety and performance during regenerative braking. In particular, we evaluate the effectiveness of the preservation of the natural brake Pedal feel under two-Pedal cooperative braking and one-Pedal driving scenarios, through human subject experiments in a simulated vehicle pursuit task. The experimental results indicate that Pedal feel compensation can significantly decrease the hard braking instances, improving safety for both two-Pedal cooperative braking and one-Pedal driving conditions. Volunteers strongly prefer compensation, while they equally prefer and can effectively utilize two-Pedal and one-Pedal driving conditions. The beneficial effects of haptic Pedal feel compensation on safety is evaluated to be larger for the two-Pedal cooperative braking condition, as lack of compensation results in stiffening/softening Pedal feel characteristics in this case.
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IROS - A Series Elastic Brake Pedal to Preserve Conventional Pedal Feel under Regenerative Braking
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Umut Caliskan, Ardan Apaydin, Ata Otaran, Volkan PatogluAbstract:We propose a force-feedback brake Pedal with series elastic actuation to preserve the conventional brake Pedal feel during cooperative regenerative braking. The novelty of the proposed design is due to the deliberate introduction of a compliant element between the actuator and the brake Pedal whose deflections are measured to estimate interaction forces and to perform closed-loop force control. Thanks to its series elasticity, the force-feedback brake Pedal can utilize robust controllers to achieve high fidelity force control, possesses favorable output impedance characteristics over the entire frequency spectrum, and can be implemented in a compact package using low-cost components. The applicability and effectiveness of the proposed series elastic brake Pedal have been tested through human subject experiments that evaluate simulated cooperative regenerative braking scenarios with and without Pedal feel compensation. The experimental results and responses to the accompanying questionnaire indicate that Pedal feel compensation through the series elastic brake Pedal can significantly decrease hard braking instances, improving safety and driver experience.
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A Series Elastic Brake Pedal to Preserve Conventional Pedal Feel under Regenerative Braking
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Umut Caliskan, Ardan Apaydin, Ata Otaran, Volkan PatogluAbstract:We propose a force-feedback brake Pedal with series elastic actuation to preserve the conventional brake Pedal feel during cooperative regenerative braking. The novelty of the proposed design is due to the deliberate introduction of a compliant element between the actuator and the brake Pedal whose deflections are measured to estimate interaction forces and to perform closed-loop force control. Thanks to its series elasticity, the force-feedback brake Pedal can utilize robust controllers to achieve high fidelity force control, possesses favorable output impedance characteristics over the entire frequency spectrum, and can be implemented in a compact package using low-cost components. The applicability and effectiveness of the proposed series elastic brake Pedal have been tested through human subject experiments that evaluate simulated cooperative regenerative braking scenarios with and without Pedal feel compensation. The experimental results and responses to the accompanying questionnaire indicate that Pedal feel compensation through the series elastic brake Pedal can significantly decrease hard braking instances, improving safety and driver experience.
Richard G. Ranky - One of the best experts on this subject based on the ideXlab platform.
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Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation
Journal of NeuroEngineering and Rehabilitation, 2014Co-Authors: Richard G. Ranky, Mark L. Sivak, Venkata K. Gade, Judith E. Deutsch, Jeffrey A. Lewis, Constantinos MavroidisAbstract:Background Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity. Methods In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) Pedals that monitor Pedal kinematics with an inertial measurement unit (IMU) and forces on the Pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and Pedal systems is presented for calibration of the sensors detecting force and angle. Results The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented Pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the Pedal system and successfully monitored kinetic and kinematic parameters of the rider’s lower extremities. Conclusions The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders.
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Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation
Journal of NeuroEngineering and Rehabilitation, 2014Co-Authors: Richard G. Ranky, Mark L. Sivak, Venkata K. Gade, Judith E. Deutsch, Jeffrey A. Lewis, Constantinos MavroidisAbstract:BACKGROUND: Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity.\n\nMETHODS: In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) Pedals that monitor Pedal kinematics with an inertial measurement unit (IMU) and forces on the Pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and Pedal systems is presented for calibration of the sensors detecting force and angle.\n\nRESULTS: The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented Pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the Pedal system and successfully monitored kinetic and kinematic parameters of the rider's lower extremities.\n\nCONCLUSIONS: The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders.
David J Sanderson - One of the best experts on this subject based on the ideXlab platform.
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The influence of cadence and power output on force application and in-shoe pressure distribution during cycling by competitive and recreational cyclists
Journal of Sports Sciences, 2000Co-Authors: David J Sanderson, Ewald M. Hennig, Alec H. BlackAbstract:The intent of this study was two-fold. The first aim was to investigate how cyclists orient forces applied by the feet to the Pedals in response to varying power output and cadence demands, and the second was to assess whether competitive riders responded differently from recreational riders to such variations. One group consisted of US Cycling Federation category II licensed competitive cyclists (n = 7) and the second group consisted of recreational cyclists with no competitive experience (n = 38). The subjects rode an instrumented stationary 10-speed geared bicycle mounted on a platform designed to provide rolling and inertial resistance for six Pedal rate/power output conditions for a minimum of 2 min for each ride. The Pedalling rates were 60, 80 and 100 rev min-1 and the power outputs 100 and 235 W. All rides were presented in random order. The forces applied to the Pedals, the Pedal angle with respect to the crank and the crank angle were recorded for the final 30 s of each ride. From these data, a number of variables were computed including peak normal and tangential forces, crank torque, angular impulse, proportion of resultant force perpendicular to the crank, and Pedal angle. Both the competitive and recreational groups responded similarly to increases in cadence and power output. There was a decrease in the peak normal forces, whereas the tangential component remained almost constant as cadence was increased. Regardless of cadence, the riders responded to increased power output demands by increasing the amount of positive angular impulse. All the riders had a reduced index of effectiveness as cadence increased. This was found to be the result of the large effect of the forces during recovery on this calculation. There were no significant differences between the two groups in each of these variables over all conditions. It was concluded that the lack of difference between the groups was a combined consequence of the limited degrees of freedom associated with the bicycle and that the relatively low power output for the competitive riders was insufficient to discriminate or highlight superior riding technique.
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The influence of cadence and power output on the biomechanics of force application during steady-rate cycling in competitive and recreational cyclists
Journal of Sports Sciences, 1991Co-Authors: David J SandersonAbstract:The intent of this study was two-fold. The first aim was to investigate how cyclists orient forces applied by the feet to the Pedals in response to varying power output and cadence demands, and the second was to assess whether competitive riders responded differently from recreational riders to such variations. One group consisted of US Cycling Federation category II licensed competitive cyclists (n = 7) and the second group consisted of recreational cyclists with no competitive experience (n = 38). The subjects rode an instrumented stationary 10-speed geared bicycle mounted on a platform designed to provide rolling and inertial resistance for six Pedal rate/power output conditions for a minimum of 2 min for each ride. The Pedalling rates were 60, 80 and 100 rev min-1 and the power outputs 100 and 235 W. All rides were presented in random order. The forces applied to the Pedals, the Pedal angle with respect to the crank and the crank angle were recorded for the final 30 s of each ride. From these data, a number of variables were computed including peak normal and tangential forces, crank torque, angular impulse, proportion of resultant force perpendicular to the crank, and Pedal angle. Both the competitive and recreational groups responded similarly to increases in cadence and power output. There was a decrease in the peak normal forces, whereas the tangential component remained almost constant as cadence was increased. Regardless of cadence, the riders responded to increased power output demands by increasing the amount of positive angular impulse. All the riders had a reduced index of effectiveness as cadence increased. This was found to be the result of the large effect of the forces during recovery on this calculation. There were no significant differences between the two groups in each of these variables over all conditions. It was concluded that the lack of difference between the groups was a combined consequence of the limited degrees of freedom associated with the bicycle and that the relatively low power output for the competitive riders was insufficient to discriminate or highlight superior riding technique.
