Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls
Identifieur interne : 000B90 ( PascalFrancis/Checkpoint ); précédent : 000B89; suivant : 000B91Torque 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 :
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.
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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">06-0269819</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0269819 INIST</idno><idno type="RBID">Pascal:06-0269819</idno><idno type="wicri:Area/PascalFrancis/Corpus">000D46</idno><idno type="wicri:Area/PascalFrancis/Curation">000760</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000B90</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls</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>Control synthesis</term><term>Electric field</term><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></keywords><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></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Torque control of electrorheological fluidic actuators for haptic vehicular instrument controls</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings</s1></fA09><fA11 i1="01" i2="1"><s1>VITRANI (M. A.)</s1></fA11><fA11 i1="02" i2="1"><s1>NIKITCZUK (J.)</s1></fA11><fA11 i1="03" i2="1"><s1>MOREL (G.)</s1></fA11><fA11 i1="04" i2="1"><s1>MAVROIDIS (C.)</s1></fA11><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></fA14><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></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and automation society</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA20><s1>764-769</s1></fA20><fA21><s1>2004</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-8232-3</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IEEE International Conference on Robotics and Automation</s1><s2>21</s2><s3>New Orleans LA USA</s3><s4>2004</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 38842</s2><s5>354000153471321220</s5></fA43><fA44><s0>0000</s0><s1>© 2006 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>27 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>06-0269819</s0></fA47><fA60><s1>C</s1></fA60><fA61><s0>A</s0></fA61><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D07</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Commande couple</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Torque control</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Mando de par</s0><s5>06</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Commande fluidique</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Fluidic control</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Mando fluídico</s0><s5>07</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Commande force</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Force control</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Control fuerza</s0><s5>08</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Synthèse commande</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="ENG"><s0>Control synthesis</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="SPA"><s0>Síntesis control</s0><s5>09</s5></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Homme</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Human</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Hombre</s0><s5>10</s5></fC03><fC03 i1="06" i2="X" l="FRE"><s0>Rétroaction</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="ENG"><s0>Feedback regulation</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="SPA"><s0>Retroacción</s0><s5>11</s5></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Commande boucle fermée</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="ENG"><s0>Closed feedback</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Bucle realimentación cerrada</s0><s5>12</s5></fC03><fC03 i1="08" i2="X" l="FRE"><s0>Commande non linéaire</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="ENG"><s0>Non linear control</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="SPA"><s0>Control no lineal</s0><s5>13</s5></fC03><fC03 i1="09" i2="X" l="FRE"><s0>Commande proportionnelle intégrale</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="ENG"><s0>Integral proportional control</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="SPA"><s0>Control PI</s0><s5>14</s5></fC03><fC03 i1="10" i2="X" l="FRE"><s0>Boucle anticipation</s0><s5>15</s5></fC03><fC03 i1="10" i2="X" l="ENG"><s0>Feedforward</s0><s5>15</s5></fC03><fC03 i1="10" i2="X" l="SPA"><s0>Ciclo anticipación</s0><s5>15</s5></fC03><fC03 i1="11" i2="X" l="FRE"><s0>Rhéologie</s0><s5>18</s5></fC03><fC03 i1="11" i2="X" l="ENG"><s0>Rheology</s0><s5>18</s5></fC03><fC03 i1="11" i2="X" l="SPA"><s0>Reología</s0><s5>18</s5></fC03><fC03 i1="12" i2="X" l="FRE"><s0>Fluide électrorhéologique</s0><s5>19</s5></fC03><fC03 i1="12" i2="X" l="ENG"><s0>Electrorheological fluid</s0><s5>19</s5></fC03><fC03 i1="12" i2="X" l="SPA"><s0>Fluido electroreologico</s0><s5>19</s5></fC03><fC03 i1="13" i2="X" l="FRE"><s0>Actionneur</s0><s5>20</s5></fC03><fC03 i1="13" i2="X" l="ENG"><s0>Actuator</s0><s5>20</s5></fC03><fC03 i1="13" i2="X" l="SPA"><s0>Accionador</s0><s5>20</s5></fC03><fC03 i1="14" i2="X" l="FRE"><s0>Sensibilité tactile</s0><s5>21</s5></fC03><fC03 i1="14" i2="X" l="ENG"><s0>Tactile sensitivity</s0><s5>21</s5></fC03><fC03 i1="14" i2="X" l="SPA"><s0>Sensibilidad tactil</s0><s5>21</s5></fC03><fC03 i1="15" i2="X" l="FRE"><s0>Synthèse mécanisme</s0><s5>22</s5></fC03><fC03 i1="15" i2="X" l="ENG"><s0>Mechanism synthesis</s0><s5>22</s5></fC03><fC03 i1="15" i2="X" l="SPA"><s0>Síntesis mecanismo</s0><s5>22</s5></fC03><fC03 i1="16" i2="X" l="FRE"><s0>Contrôle information</s0><s5>23</s5></fC03><fC03 i1="16" i2="X" l="ENG"><s0>Information control</s0><s5>23</s5></fC03><fC03 i1="16" i2="X" l="SPA"><s0>Control información</s0><s5>23</s5></fC03><fC03 i1="17" i2="X" l="FRE"><s0>Opérateur humain</s0><s5>24</s5></fC03><fC03 i1="17" i2="X" l="ENG"><s0>Human operator</s0><s5>24</s5></fC03><fC03 i1="17" i2="X" l="SPA"><s0>Operador humano</s0><s5>24</s5></fC03><fC03 i1="18" i2="X" l="FRE"><s0>Champ électrique</s0><s5>28</s5></fC03><fC03 i1="18" i2="X" l="ENG"><s0>Electric field</s0><s5>28</s5></fC03><fC03 i1="18" i2="X" l="SPA"><s0>Campo eléctrico</s0><s5>28</s5></fC03><fC03 i1="19" i2="X" l="FRE"><s0>Modélisation</s0><s5>29</s5></fC03><fC03 i1="19" i2="X" l="ENG"><s0>Modeling</s0><s5>29</s5></fC03><fC03 i1="19" i2="X" l="SPA"><s0>Modelización</s0><s5>29</s5></fC03><fN21><s1>170</s1></fN21><fN44 i1="01"><s1>OTO</s1></fN44><fN82><s1>OTO</s1></fN82></pA></standard></inist><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)
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