title: A portable air jet actuator device for mechanical system identification.
abstract: System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon--the Coandă effect--is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use.
authors: Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA. jbelden@mit.edu
authors: Jesse
authors: J
authors: Belden
authors: Wayne L
authors: WL
authors: Staats
authors: Anirban
authors: A
authors: Mazumdar
authors: Ian W
authors: IW
authors: Hunter
mesh_terms: D000388:Air; D002138:Calibration; D004867:Equipment Design; D006801:Humans; D055595:Mechanical Phenomena; D011312:Pressure; D015203:Reproducibility of Results; D018709:Statistics, Nonparametric