@inproceedings{6d9b4f41d51b4d0392f88fe71b01e062,
title = "Nonlinear phase-based oscillator to generate and assist periodic motions",
abstract = "Oscillatory behavior is important for tasks such as walking and running. We are developing methods 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. The stability of the system is proved using the Poincar{\'e}-Bendixson criterion. Linear and rotational mechanical systems are simulated using our phase controller. The method is implemented and tested to control a pendulum. Lastly, we propose how to assist hip motion during walking using the phase-based forcing function.",
author = "{De La Fuente}, Juan and Thomas Sugar and Sangram Redkar and Bates, {Andrew R.}",
note = "Publisher Copyright: {\textcopyright} Copyright 2016 by ASME.; ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 ; Conference date: 21-08-2016 Through 24-08-2016",
year = "2016",
doi = "10.1115/DETC2016-59230",
language = "English (US)",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
booktitle = "40th Mechanisms and Robotics Conference",
}