More efficient cooling systems are an enabler for the increase in power density in an electric traction motor. Contemplating to existing reviews, this article presents a comprehensive collection of heat transfer mechanisms for the different heat removal techniques used in electric traction motors. In this article, an overview of various cooling concepts in existing and future traction motors is presented, and the cooling approaches are compared. The following literature review compiles geometry-based calculation formulas of the different mechanisms of cooling heat transfer applied in motor technology. Furthermore, general heat transfer phenomena appearing in electric traction motors are reviewed and compiled for easy access. Various specifically relevant aspects, including rotor shaft cooling, different spray cooling concepts, different air convection phenomena, bearing heat transfer, and the stator-housing contact, are examined in more detail. For validation of the review result, based on a well-known motor design, thermal analysis and comparison of the different cooling methods are carried out. Modeling is done with a lumped parameter thermal network (LPTN). This article concludes by demonstrating the advantages and disadvantages of the different cooling concepts based on the collection of modeling data.

The growing interest in electric vehicles leads to new developments of efficient electric traction motors with high power density. Since a large part of the losses in an electric motor can occur in the windings, it is important to cool the windings to reduce the temperature and protect the winding insulation from thermal aging. Oil spray cooling systems are becoming more and more relevant for cooling the windings. In this work, an approach for heat transfer modeling of electric traction motors (power classes #2-4 with 60 to 180kW) with hairpin end windings is developed and tested. The model is developed with a testing rig for different flat jet spray nozzle arrangements for a hairpin electric traction motor. The model approach showed a good agreement with the measured temperatures of the end windings in the testing rig. A transient thermal simulation of the testing rig confirms the good agreement. In a second step the model approach is transferred to another electric traction motor with a different spray cooling system. The simulation results of the second electric traction motor also show good agreement with thermal quasi-static operating points and transient measurements at low and medium speed. At high speeds the deviations increased. Possible causes for this behavior are discussed.

Hand paralysis, caused by conditions such as spinal cord injuries, strokes, and arthritis, significantly hinders daily activities. Wearable exo-gloves and telerehabilitation offer effective hand training solutions to aid the recovery process. This study presents the development of lightweight wearable exo-gloves designed for finger telerehabilitation. The prototype uses NiTi shape memory alloy (SMA) actuators to control five fingers. Specialized end effectors target the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints, mimicking human finger tendon actions. A variable structure controller, managed through a web-based Human–Machine Interface (HMI), allows remote adjustments. Thermal behavior, dynamics, and overall performance were modeled in MATLAB Simulink, with experimental validation confirming the model’s efficacy. The phase transformation characteristics of NiTi shape memory wire were studied using the Souza–Auricchio model within COMSOL Multiphysics 6.2 software. Comparing the simulation to trial data showed an average error of 2.76°. The range of motion for the MCP, PIP, and DIP joints was 21°, 65°, and 60.3°, respectively. Additionally, a minimum torque of 0.2 Nm at each finger joint was observed, which is sufficient to overcome resistance and meet the torque requirements. Results demonstrate that integrating SMA actuators with telerehabilitation addresses the need for compact and efficient wearable devices, potentially improving patient outcomes through remote therapy.

In this study, we present a tomography-based control system for a rehabilitation robot using a novel approach to assess advancement and a dynamic model of the system. In this model, the torque generated by the robot and the impedance of the patient’s hand are used to determine each step of the rehabilitation. In the proposed control architecture, a regression model is developed and implemented based on the extraction of tomography signals to estimate the muscles state. During the rehabilitation session, the torque applied by the patient is adjusted according to this estimation. The first step of this protocol is to calculate the subject-specific parameters. These include the axis offset, inertia parameters, passive damping and stiffness. The second step involves identifying the other elements of the model, such as the torque resulting from interaction. In this case, the robot will calculate the torque generated by the patient. The developed robot-based solution and the suggested protocol were tested on different participants and showed promising results. First, the prediction of the impedance–position relationship was evaluated, and the prediction was below 2% error. Then, different participants with different impedances were tested, and the results showed that the control system controlled the force and position for each participant individually.

Power hardware-in-the-loop (PHiL) simulations provide a powerful environment in the critical process of testing new components and controllers. In this work, we aim to explain the impact of time delays in a PHiL setup and recommend how to consider them in different investigations. The general concept of PHiL, with its necessary components, is explained and the benefits compared to pure simulation and implemented field tests are presented. An example for a flexible PHiL environment is shown in form of the Power Hardware-in-the-Loop Simulation Laboratory (PHiLsLab) at TU Hamburg. In the PHiLsLab, different hardware components are used as the simulator to provide a grid interface via an amplifier system, a real-time simulator by OPAL-RT, a programmable logic controller by Bachmann, and an M-DUINO microcontroller. Benefits and limitations of the different simulators are shown using case examples of conducted investigations. Essentially, all platforms prove to be appropriate and sufficiently powerful simulators, if the time constants and complexity of the investigated case fit the simulator performance. The communication interfaces used between simulator and amplifier system differ in communication speed and delay; therefore, they have to be considered to determine the level of dynamic interactions between the simulated rest of system and the hardware under test.