Nonlinear, phase-based oscillator to generate and assist periodic motions

Juan De la Fuente, Thomas Sugar, Sangram Redkar

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


Oscillatory behavior is important for tasks, such as walking and running. We are developing methods for wearable robotics to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. This method is based on the state of the system and does not use off-line trajectory planning. The behavior of a limit cycle is shown using the Poincaré-Bendixson criterion. Linear and rotational models are simulated using our phase controller. The method is implemented and tested to control a pendulum.

Original languageEnglish (US)
Article number024502
JournalJournal of Mechanisms and Robotics
Issue number2
StatePublished - Apr 1 2017

ASJC Scopus subject areas

  • Mechanical Engineering


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