HapticV1, Main, Merge, bibRecord, 006F11

Torque control of electrorheological fluidic actuators

Identifieur interne : 006F11 ( Main/Merge ); précédent : 006F10; suivant : 006F12

Torque control of electrorheological fluidic actuators

Auteurs : M. A. Vitrani [France] ; J. Nikitczuk [États-Unis] ; G. Morel [France] ; C. Mavroidis [États-Unis]

Source :

RBID : Pascal:07-0014672

Descripteurs français

Pascal (Inist)
- Commande couple, Commande fluidique, Commande boucle fermée, Commande non linéaire, Commande proportionnelle intégrale, Boucle anticipation, Rhéologie, Fluide électrorhéologique, Actionneur, Sensibilité tactile, Opérateur humain, Champ électrique, Modélisation.

English descriptors

KwdEn :
- Actuator, Closed feedback, Electric field, Electrorheological fluid, Feedforward, Fluidic control, Human operator, Integral proportional control, Modeling, Non linear control, Rheology, Tactile sensitivity, Torque control.

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.

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to stream PascalFrancis, to step Corpus: 000C04
to stream PascalFrancis, to step Curation: 000891
to stream PascalFrancis, to step Checkpoint: 000B89

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Pascal:07-0014672

Le document en format XML

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<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>
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<keywords scheme="Pascal" xml:lang="fr"><term>Commande couple</term>
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<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>
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<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>
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Torque control of electrorheological fluidic actuators

Torque control of electrorheological fluidic actuators

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri