HapticV1, Main, Merge, bibRecord, 006F12

Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls

Identifieur interne : 006F12 ( Main/Merge ); précédent : 006F11; suivant : 006F13

Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls

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

Source :

RBID : Pascal:06-0269819

Descripteurs français

Pascal (Inist)
- Commande couple, Commande fluidique, Commande force, Synthèse commande, Homme, Rétroaction, Commande boucle fermée, Commande non linéaire, Commande proportionnelle intégrale, Boucle anticipation, Rhéologie, Fluide électrorhéologique, Actionneur, Sensibilité tactile, Synthèse mécanisme, Contrôle information, Opérateur humain, Champ électrique, Modélisation.
Wicri :
- topic : Homme.

English descriptors

KwdEn :
- Actuator, Closed feedback, Control synthesis, Electric field, Electrorheological fluid, Feedback regulation, Feedforward, Fluidic control, Force control, Human, Human operator, Information control, Integral proportional control, Mechanism synthesis, Modeling, Non linear control, Rheology, Tactile sensitivity, Torque control.

Abstract

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver's visual attention. In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic application 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.

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

to stream PascalFrancis, to step Corpus: 000D46
to stream PascalFrancis, to step Curation: 000760
to stream PascalFrancis, to step Checkpoint: 000B90

Links to Exploration step

Pascal:06-0269819

Le document en format XML

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<term>Electrorheological fluid</term>
<term>Feedback regulation</term>
<term>Feedforward</term>
<term>Fluidic control</term>
<term>Force control</term>
<term>Human</term>
<term>Human operator</term>
<term>Information control</term>
<term>Integral proportional control</term>
<term>Mechanism synthesis</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>
<term>Commande fluidique</term>
<term>Commande force</term>
<term>Synthèse commande</term>
<term>Homme</term>
<term>Rétroaction</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>Synthèse mécanisme</term>
<term>Contrôle information</term>
<term>Opérateur humain</term>
<term>Champ électrique</term>
<term>Modélisation</term>
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<front><div type="abstract" xml:lang="en">Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver's visual attention. In this paper, the experimental closed loop torque control of Electro-Rheological Fluids (ERF) based actuators for haptic application 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 for haptic vehicular instrument controls

Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls

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