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Adding and Subtracting Energy to Body Motion: Phase Oscillator

[+] Author Affiliations
Jason Kerestes, Thomas G. Sugar

Arizona State University, Mesa, AZ

Matthew Holgate

SpringActive, Inc., Tempe, AZ

Paper No. DETC2014-34405, pp. V05AT08A004; 6 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


We are developing methods to add a bounded amount of energy to assist body motion. Energy is added based on the phase angle of the limb to create a “phase oscillator.” The energy is added assisting motion creating an oscillatory behavior. An anti-phase angle can be used to subtract energy from body motion as well. Using a “phase oscillator” controller, a powered hip exoskeleton assisted a runner and demonstrated a reduction in metabolic cost.

Copyright © 2014 by ASME



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