Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators

Kaushikk Iyer; David Keeling; Richard M. Hall

doi:10.1109/ICMRE54455.2022.9734078

Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators

Kaushikk Iyer, David Keeling, Richard M. Hall

Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Hardware-in-the-loop (HIL) simulation is an advanced technique for developing and testing complex real-time control systems. This paper presents the benefits of HIL simulation to develop, test and validate advanced control algorithms used in an artificial joint wear simulator for the tribological testing of prostheses.A benchtop HIL setup is created for experimentation, controller verification, and validation purposes, allowing different control strategies to be tested rapidly in a safe environment. The HIL simulation attempts to replicate similar joint motion and loading conditions of that of the spinal wear simulator. The simulator contains a four-bar link powered by electromechanical actuators. As a result, the implant articulates with an angular motion specified in the international standards, ISO-18192-1, that defines fixed sinusoid motion and load profiles for wear testing of both lumbar and cervical disc implants.Using a PID controller, a velocity-based position control algorithm was developed to interface with the benchtop setup that performs HIL simulation. The simulation results strongly support the efficacy of the test setup using HIL simulation to verify and validate the accuracy and robustness of the prospective controller before its deployment into the spinal wear simulator. This method of testing controllers enables a wide range of possibilities to test advanced control algorithms that can potentially utilize real-world data of patients performing daily living activities that place adverse demands on the artificial joint.

Original language	English
Title of host publication	2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	44-49
Number of pages	6
ISBN (Electronic)	9781665483773, 9781665483766
ISBN (Print)	9781665483780
DOIs	https://doi.org/10.1109/ICMRE54455.2022.9734078
Publication status	Published - 17 Mar 2022
Event	8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022 - Virtual, Munich, Germany Duration: 10 Feb 2022 → 12 Feb 2022

Conference

Conference	8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022
Country/Territory	Germany
City	Virtual, Munich
Period	10/02/22 → 12/02/22

Bibliographical note

Funding Information:
ACKNOWLEDGEMENT This project has received funding from the European Union's Horizon 2020 research and innovation program under the Marie Sklodowska-Curie grant agreement No 812765.

Publisher Copyright:
© 2022 IEEE.

Keywords

hardware-in-the-loop (HIL)
PID controller
real-time simulation
wear simulator

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence
Mechanical Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/ICMRE54455.2022.9734078Licence: None: All rights reserved

Cite this

Iyer, K., Keeling, D., & Hall, R. M. (2022). Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators. In 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) (pp. 44-49). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICMRE54455.2022.9734078

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Iyer, K, Keeling, D & Hall, RM 2022, Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators. in 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE). Institute of Electrical and Electronics Engineers (IEEE), pp. 44-49, 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022, Virtual, Munich, Germany, 10/02/22. https://doi.org/10.1109/ICMRE54455.2022.9734078

Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators. / Iyer, Kaushikk; Keeling, David; Hall, Richard M.
2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE). Institute of Electrical and Electronics Engineers (IEEE), 2022. p. 44-49.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Keeling, David

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N2 - Hardware-in-the-loop (HIL) simulation is an advanced technique for developing and testing complex real-time control systems. This paper presents the benefits of HIL simulation to develop, test and validate advanced control algorithms used in an artificial joint wear simulator for the tribological testing of prostheses.A benchtop HIL setup is created for experimentation, controller verification, and validation purposes, allowing different control strategies to be tested rapidly in a safe environment. The HIL simulation attempts to replicate similar joint motion and loading conditions of that of the spinal wear simulator. The simulator contains a four-bar link powered by electromechanical actuators. As a result, the implant articulates with an angular motion specified in the international standards, ISO-18192-1, that defines fixed sinusoid motion and load profiles for wear testing of both lumbar and cervical disc implants.Using a PID controller, a velocity-based position control algorithm was developed to interface with the benchtop setup that performs HIL simulation. The simulation results strongly support the efficacy of the test setup using HIL simulation to verify and validate the accuracy and robustness of the prospective controller before its deployment into the spinal wear simulator. This method of testing controllers enables a wide range of possibilities to test advanced control algorithms that can potentially utilize real-world data of patients performing daily living activities that place adverse demands on the artificial joint.

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ER -

Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators

Abstract

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this