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ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

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former, there were assumed the following operation conditions: The total load including<br />

both, weight of the patient and the weight of the moving part of the actuator itself,<br />

should not exceed 100 Kg. The maximum acceleration should not exceed 2g, including<br />

gravity. Fig. 3 shows the devised architecture of the IBWSS, including the main forces<br />

acting on the system, and the governing equation for its dynamic equilibrium.<br />

Information from phase planes provided key points where friction forces in (4) can be<br />

compensated i.e., all trajectory points around zero velocity.<br />

Fig. 3. System architecture and forces in the system<br />

sign <br />

M a i k M g f v v f f<br />

drive force sf v c subject uncertain<br />

Where,<br />

M·a represents the inertial force.<br />

idrive kforce : the force of the linear motor<br />

ffriction: Friction force with static component ffs (with<br />

lower and upper limits -ffsmax

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