Investigation of hardware-in-the-loop walking/running test with spring mass system

Zhanye Yang, Pejman Iravani, Andrew Plummer, Min Pan

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

2 Citations (SciVal)


Hardware-in-the-Loop (HIL) testing has been used successfully for a number of years on a wide range of applications. Any delay in actuation systems will increase the system energy if it is not properly compensated for due to the negative damping effect. A HIL walking/running testing system has advantages for testing lower-limb prosthetics over traditional human-based testing, i.e. safer, more objective. However, the stiff ground contact discontinuity is hard to compensate. This paper investigates the effect of introducing nonlinearity and discontinuity into a HIL system by comparing three types of Spring Mass System. Also, a requirement on the HIL testing actuation system is concluded that the actuation system delay frequency should be 20 times greater than the system natural frequency in order to keep the system simulation stable.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings
PublisherSpringer Verlag
Number of pages8
ISBN (Print)9783319641065
Publication statusPublished - 2017
Event18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017 - Guildford, UK United Kingdom
Duration: 19 Jul 201721 Jul 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10454 LNAI


Conference18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017
Country/TerritoryUK United Kingdom


  • Delay compensation
  • Hardware-in-the-Loop
  • Prosthetic test

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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