Mechanical Engineering - Research Publications

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Start date: 2020 × End date: 2022 × Type: Conference Paper × Author: Tan, Ying × Author: Bacek, Tomislav ×

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    On Singular Perturbation for a Class of Discrete-Time Nonlinear Systems in the Presence of Limit Cycles of Fast Dynamics
    LIU, H ; Tan, Y ; Bacek, T ; SUN, M ; Chen, Z ; Kulic, D ; Oetomo, D (IEEE, 2022)
    This paper extends the existing singular perturbation results to a class of nonlinear discrete-time systems whose fast dynamics have limit cycles. By introducing the discrete-time reduced averaged system, the main result (Theorem 1) shows that for a given fixed time interval, the solutions of the original system can be made arbitrarily close to the solutions of the reduced averaged system and the boundary layer system. From this result, the stability properties of the original system are obtained from the stability properties of the reduced averaged system and the boundary layer system. Simulation results support the theoretical findings.
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    Varying Joint Patterns and Compensatory Strategies Can Lead to the Same Functional Gait Outcomes: A Case Study
    Bacek, T ; SUN, M ; LIU, H ; Chen, Z ; Kulic, D ; Oetomo, D ; Tan, Y (IEEE, 2022)
    This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked during three sessions. Both participants employed varying intra- and inter-personal compensatory strategies (e.g., vaulting, hip hiking) across walking conditions and exhibited notable gait pattern alterations while keeping task-space (functional) gait parameters invariant. They also preferred various levels of asymmetric step length but kept their symmetric step time consistent and cadence-invariant during free walking. The results demonstrate the importance of an individualised approach and the need for a paradigm shift from functional (task-space) to joint-space gait analysis in attending to (a)typical gaits and delivering human-centred human-robot interaction.