arXiv subjects

Tilen Brecelj

Publications and source records attributed to Tilen Brecelj.

6 recordsLinked to original sources

arXiv2023

The JSI-KneExo: Active, Quasi-Passive, Pneumatic, Portable Knee Exo with Bidirectional Energy Flow for Air Recovery in Sit-Stand Tasks

While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push these boundaries further, this study introduces a portable pneumatic knee exoskeleton that operates in both quasi-passive and active modes, where active mode is utilized for aiding in standing up (power generation), thus the energy flows from the exoskeleton to the user, and quasi-passive mode for aiding in sitting down (power absorption), where the device absorbs and can store energy in the form of compressed air, leading to energy savings in active mode. The absorbed energy can be stored and later reused without compromising exoskeleton transparency in the meantime. In active mode, a small air pump inflates the pneumatic artificial muscle (PAM), which stores the compressed air, that can then be released into a pneumatic cylinder to generate torque. All electronic and pneumatic components are integrated into the system, and the exoskeleton weighs 3.9 kg with a maximum torque of 20 Nm at the knee joint. The paper describes the mechatronic design, mathematical model and includes a pilot study with an able-bodied subject performing sit-to-stand tasks. The results show that the exoskeleton can recover energy while assisting the subject and reducing muscle activity. Furthermore, results underscore air regeneration's impact on energy-saving in portable pneumatic exoskeletons.

cs.RO↗

arXiv2023

Learning Joint Space Reference Manifold for Reliable Physical Assistance

This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100--200 N) within a very short time (2--8 s), posing significant challenges in terms of human unpredictability and robot stability control. To address these challenges, we propose an approach for finding a spatial reference for the robot, which allows the robot to move according to the force exerted by the human and control its stability during the task. Specifically, we focus on the problem of finding a 1D manifold for the robot, while assuming a simple controller to guide its movement on this manifold. To achieve this, we use a functional representation to parameterize the manifold and solve an optimization problem that takes into account the robot's stability and the unpredictability of human behavior. We demonstrate the effectiveness of our approach through simulations and experiments with the Talos robot, showing robustness and adaptability.

cs.RO↗

arXiv2021

Measurements of the electron-helicity asymmetry in the quasi-elastic ${\rm A}(\vec{e},e' p)$ process

We present measurements of the electron helicity asymmetry in quasi-elastic proton knockout from $^{2}$H and $^{12}$C nuclei by polarized electrons. This asymmetry depends on the fifth structure function, is antisymmetric with respect to the scattering plane, and vanishes in the absence of final-state interactions, and thus it provides a sensitive tool for their study. Our kinematics cover the full range in off-coplanarity angle $\phi_{pq}$, with a polar angle $\theta_{pq}$ coverage up to about 8 degrees. The missing energy resolution enabled us to determine the asymmetries for knock-out resulting in different states of the residual $^{11}$B system. We find that the helicity asymmetry for $p$-shell knockout from $^{12}$C depends on the final state of the residual system and is relatively large (up to $\approx 0.16$), especially at low missing momentum. It is considerably smaller (up to $\approx 0.01$) for $s$-shell knockout from both $^{12}$C and $^2$H. The data for $^2$H are in very good agreement with theoretical calculations, while the predictions for $^{12}$C exhibit differences with respect to the data.

nucl-ex↗

arXiv2020

Measurements of the induced polarization in the quasi-elastic $A(e,e'\vec p\,)$ process in non-coplanar kinematics

We report measurements of the induced polarization $\vec P$ of protons knocked out from $^2$H and $^{12}$C via the $A(e,e'\vec p\,)$ reaction. We have studied the dependence of $\vec P$ on two kinematic variables: the missing momentum $p_{\rm miss}$ and the "off-coplanarity" angle $ϕ_{pq}$ between the scattering and reaction planes. For the full 360$\degree$ range in $ϕ_{pq}$, both the normal ($P_y$) and, for the first time, the transverse ($P_x$) components of the induced polarization were measured with respect to the coordinate system associated with the scattering plane. $P_x$ vanishes in coplanar kinematics, however in non-coplanar kinematics, it is on the same scale as $P_y$. We find that the dependence on $ϕ_{pq}$ is sine-like for $P_x$ and cosine-like for $P_y$. For carbon, the magnitude of the induced polarization is especially large when protons are knocked out from the $p_{3/2}$ shell at very small $p_{\rm miss}$. For the deuteron, the induced polarization is near zero at small $|p_{\rm miss}|$, and its magnitude increases with $|p_{\rm miss}|$. For both nuclei such behavior is reproduced qualitatively by theoretical results, driven largely by the spin-orbit part of the final-state interactions. However, for both nuclei, sizeable discrepancies exist between experiment and theory.

nucl-ex↗

arXiv2020

Polarization transfer to bound protons measured by quasi-elastic electron scattering on $^{12}$C

We report the measurements of the transverse ($P'x$) and longitudinal ($P'z$) components of the polarization transfer to a bound proton in carbon via the quasi-free $^{12}{\rm C}(\vec e,e'\vec p)$ reaction, over a wide range of missing momenta. We determine these polarization-transfers separately for protons knocked out from the $s$- and $p$-shells. The electron-beam polarization was measured to determine the individual components with systematic uncertainties which allow a detailed comparison with theoretical calculations.

nucl-ex↗

arXiv2019

Quasi-elastic polarization-transfer measurements on the deuteron in anti-parallel kinematics

We present measurements of the polarization-transfer components in the $^2$H$(\vec e,e'\vec p)$ reaction, covering a previously unexplored kinematic region with large positive (anti-parallel) missing momentum, $p_{\rm miss}$, up to 220 MeV$/c$, and $Q^2=0.65$ $({\rm GeV}/c)^2$. These measurements, performed at the Mainz Microtron (MAMI), were motivated by theoretical calculations which predict small final-state interaction (FSI) effects in these kinematics, making them favorable for searching for medium modifications of bound nucleons in nuclei. We find in this kinematic region that the measured polarization-transfer components $P_x$ and $P_z$ and their ratio agree with the theoretical calculations, which use free-proton form factors. Using this, we establish upper limits on possible medium effects that modify the bound proton's form factor ratio $G_E/G_M$ at the level of a few percent. We also compare the measured polarization-transfer components and their ratio for $^2$H to those of a free (moving) proton. We find that the universal behavior of $^2$H, $^4$He and $^{12}$C in the double ratio $\frac{(P_x/P_z)^A}{(P_x/P_z)^{^1\rm H}}$ is maintained in the positive missing-momentum region.

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