This paper presents adaptive impedance control of an upper limb robotic exoskeleton using biological signals. First, we develop a reference musculoskeletal model the human and experimentally calibrate to match operator's motion behavior. Then, proposed novel algorithm transfers stiffness from operator through surface electromyography (sEMG) signals, being utilized design optimal model. Considering unknown deadzone effects in robot joints absence precise knowledge robot's dynamics, neural...

Inductive power transfer (IPT) converters are resonant that attain optimal energy efficiencies for a certain load range. To achieve maximum efficiency, it is common to cascade the IPT converter with front-side and load-side dc/dc converters. The two normally controlled cooperatively requirements of output regulation efficiency tracking using control technique based on perturbation observation, which inevitably slow in response. In this paper, decoupled developed. solely responsible...

This paper studies wireless charging of lithium-ion batteries for electric vehicles. The profile mandates a constant-current (CC) discharged battery until the voltage reaches cutoff at rated power. continues with constant-voltage (CV) power level down to 3% in order fully charge battery. An inductive-power-transfer (IPT) converter should be designed minimal number stages achieve high efficiency. However, efficiency such wide load range is difficult achieve. Moreover, efficiency-to-load...

This paper presents human-robot cooperation with adaptive behavior of the robot, which helps human operator to perform cooperative task and optimizes its performance. A novel impedance control is proposed for robotic manipulator, whose end-effector's motions are constrained by arm motion limits. In order minimized tracking errors acquire an optimal mode arms, linear quadratic regulation (LQR) formulated; then, integral reinforcement learning (IRL) has been solve given LQR little information...

This article proposes a single-stage inductive-power-transfer (IPT) converter operating as wireless constant-power (CP) and maximum-efficiency battery charger. By maintaining constant output power rather than providing current throughout the dominant stage of charging, IPT can make utmost its capability, thus having faster charging rate. The proposed adopts series-series compensation includes switch-controlled capacitor (SCC) semiactive rectifier (SAR) in secondary side. Manipulating SCC SAR...

An inductive power transfer (IPT) converter usually has an optimum efficiency only at a matched load. Because of wide load range variation during battery charging, it is challenging for IPT to achieve the required output and maintain high throughout charging process. In this paper, series-series compensated with active rectifier analyzed implemented charging. Appropriate operations are employed constant-current constant-voltage (CV) A novel operation approach proposed constant voltage ensure...

A constant current (CC) output followed by a voltage (CV) threshold is usually needed for an inductive power transfer (IPT) charger to comply with the battery charging profile. This letter proposes novel clamp coil assisted IPT that features inherent, passive, automatic, and smooth CC-to-CV transition. Since transition eliminates necessity of state-of-charge detection, wireless feedback communication, active control, proposed rugged reliable. The inherent capability also tackles open-circuit...

To comply with the constant current (CC) and voltage (CV) charging characteristics of a lithium battery, it is expected that an inductive power transfer (IPT) system can provide required forms simultaneously. This article first proposes systematic design pathway for IPT systems inherently support CC-to-CV profiles on basis immittance networks. By appropriately connecting network clamping resistive input impedance output characteristics, family capable delivering CC CV be derived. Restricting...

In inductive power transfer (IPT) systems, air gap variations can cause fluctuations in the parameters of loosely coupled transformers (LCT), potentially compromising resonant tank performance, output stability and efficiency. To address this issue, paper introduces a novel multi-loop control strategy for single-stage power-source IPT system. Specifically, proposed system replaces traditional compensation capacitors with switch-controlled (SCCs) on both sides incorporates semi-active...

Inductive-power-transfer (IPT) converters should desirably achieve nearly zero reactive circulating power, soft switching of power devices and load-independent constant output voltage or current with optimized transfer efficiency, lowest component ratings. However, the characteristic is dependent on IPT transformer parameters their compensation. The space-constrained restricts design low-order resonant circuit compensated converter, making converter hard to optimize. This paper will analyze...

Contactless battery charging can be safer and more convenient than the plug-in of electric vehicles (EVs). Different compensation topologies have been studied for contactless power transfer systems depending on applications in consideration stability configuration. However, conventional voltage supply mandates use an extra voltage-to-current converter stage EV charging. Alternatively, switching has reported to satisfy profile. This paper proposes a design methodology using series-series...

The modular multilevel converter based high voltage direct current (MMC-HVDC) is a dynamic power balancing system. control system of MMC generally adopts dual closed-loop vector strategy on the traditional instantaneous model under asymmetric grid state, which has complex structure and low accuracy. This paper introduces flexible establishes general equation with active new reactive as objects. Based this, an improved sliding-mode MMC-HVDC proposed combines method to eliminate twice...

Compared with conductive charging, wireless inductive-power-transfer (IPT) charging exhibits higher potential as it avoids physical contact and provides convenient user experience. Regrettably, is challenging for IPT converters to comply the constant current (CC) voltage (CV) profiles, while optimizing power efficiency. To achieve such goals, existing can apply multistage converter, dual side, or variable frequency modulation feedback communication. However, applying converter increases cost...

For inductive power transfer (IPT) systems, load conditions and coupling coefficient are subject to change, affect system efficiency. Aiming at addressing this issue, paper proposes a two-loop control scheme based on single-stage power-source IPT converter. The proposed converter utilizes series compensation structure the primary side employs switched-controlled capacitor (SCC) in with semi-active rectifier (SAR) secondary side. SCC SAR cooperate via an inner loop emulate null impedance...

Offshore substations are important sustainable power infrastructures subjected to strong vibrations induced by complex environmental excitations such as wind, waves, and currents. To protect the structures expensive facilities, lightweight vibration control devices highly desirable in offshore substations. With a high-performance energy dissipation device, inerter, conventional Tuned Mass Damper (TMD) is upgraded for control. The optimal parametric design performance evaluation of single-...

Inductive power transfer (IPT) systems with front-side and load-side converters are generally developed for better overall system efficiency than a single IPT converter by providing maximum tracking output regulation against variations of coupling coefficient (k) load. The optimum point an is at particular loading resistance, which varies k hard to measure directly the purpose control. Perturb observe control normally implemented iteratively track point. However, this heuristic algorithm...

Inductive power transfer (IPT) has found application prospect in dynamic wireless electric vehicle (EV) charging as it can avoid the constraints of physical connection. With commonly used LCC compensation, ground-assembled transmitter coil is always excited by a fixed standby current even if there no receiver coverage. As for PT (DWPT) systems, without EV charging, underground coils typically remain activated at full output to wait receivers most cases, resulting huge and magnetic exposure...

Misalignment tolerance is essential in the design and implementation of inductive power transfer (IPT) systems. This paper proposes an IPT coupler, termed rectangular-solenoidal pad (RSP), which combines a rectangular coil solenoidal coil. The proposed RSP can effectively capture both vertical horizontal magnetic fields, complementing each other to suppress flux variation during misalignment. Compared with commonly-used double D quadrature (DDQP), achieves same level suppression less wire,...