Torque control of electrorheological fluidic actuators
Identifieur interne : 006B02 ( Main/Exploration ); précédent : 006B01; suivant : 006B03Torque control of electrorheological fluidic actuators
Auteurs : M. A. Vitrani [France] ; J. Nikitczuk [États-Unis] ; G. Morel [France] ; C. Mavroidis [États-Unis]Source :
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress, electroactively. Using the electrically controlled rheological properties of ERFs, we developed actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feed-forward loop.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000C04
- to stream PascalFrancis, to step Curation: 000891
- to stream PascalFrancis, to step Checkpoint: 000B89
- to stream Main, to step Merge: 006F11
- to stream Main, to step Curation: 006B02
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Torque control of electrorheological fluidic actuators</title>
<author><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name>
<affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1>
<s2>92265 Fontenay-aux-Roses</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Île-de-France</region>
<settlement type="city">Fontenay-aux-Roses</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1>
<s2>Boston MA 02115</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Boston MA 02115</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name>
<affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1>
<s2>92265 Fontenay-aux-Roses</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Île-de-France</region>
<settlement type="city">Fontenay-aux-Roses</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1>
<s2>Boston MA 02115</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Boston MA 02115</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">07-0014672</idno>
<date when="2004">2004</date>
<idno type="stanalyst">PASCAL 07-0014672 INIST</idno>
<idno type="RBID">Pascal:07-0014672</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000C04</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000891</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000B89</idno>
<idno type="wicri:Area/Main/Merge">006F11</idno>
<idno type="wicri:Area/Main/Curation">006B02</idno>
<idno type="wicri:Area/Main/Exploration">006B02</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Torque control of electrorheological fluidic actuators</title>
<author><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name>
<affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1>
<s2>92265 Fontenay-aux-Roses</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Île-de-France</region>
<settlement type="city">Fontenay-aux-Roses</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1>
<s2>Boston MA 02115</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Boston MA 02115</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name>
<affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61</s1>
<s2>92265 Fontenay-aux-Roses</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Île-de-France</region>
<settlement type="city">Fontenay-aux-Roses</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue</s1>
<s2>Boston MA 02115</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Boston MA 02115</wicri:noRegion>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term>
<term>Closed feedback</term>
<term>Electric field</term>
<term>Electrorheological fluid</term>
<term>Feedforward</term>
<term>Fluidic control</term>
<term>Human operator</term>
<term>Integral proportional control</term>
<term>Modeling</term>
<term>Non linear control</term>
<term>Rheology</term>
<term>Tactile sensitivity</term>
<term>Torque control</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Commande couple</term>
<term>Commande fluidique</term>
<term>Commande boucle fermée</term>
<term>Commande non linéaire</term>
<term>Commande proportionnelle intégrale</term>
<term>Boucle anticipation</term>
<term>Rhéologie</term>
<term>Fluide électrorhéologique</term>
<term>Actionneur</term>
<term>Sensibilité tactile</term>
<term>Opérateur humain</term>
<term>Champ électrique</term>
<term>Modélisation</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress, electroactively. Using the electrically controlled rheological properties of ERFs, we developed actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feed-forward loop.</div>
</front>
</TEI>
<affiliations><list><country><li>France</li>
<li>États-Unis</li>
</country>
<region><li>Île-de-France</li>
</region>
<settlement><li>Fontenay-aux-Roses</li>
</settlement>
</list>
<tree><country name="France"><region name="Île-de-France"><name sortKey="Vitrani, M A" sort="Vitrani, M A" uniqKey="Vitrani M" first="M. A." last="Vitrani">M. A. Vitrani</name>
</region>
<name sortKey="Morel, G" sort="Morel, G" uniqKey="Morel G" first="G." last="Morel">G. Morel</name>
</country>
<country name="États-Unis"><noRegion><name sortKey="Nikitczuk, J" sort="Nikitczuk, J" uniqKey="Nikitczuk J" first="J." last="Nikitczuk">J. Nikitczuk</name>
</noRegion>
<name sortKey="Mavroidis, C" sort="Mavroidis, C" uniqKey="Mavroidis C" first="C." last="Mavroidis">C. Mavroidis</name>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 006B02 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 006B02 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Exploration |type= RBID |clé= Pascal:07-0014672 |texte= Torque control of electrorheological fluidic actuators }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |