Haptic joystick with hybrid actuator using air muscles and spherical MR-brake
Identifieur interne : 000383 ( PascalFrancis/Corpus ); précédent : 000382; suivant : 000384Haptic joystick with hybrid actuator using air muscles and spherical MR-brake
Auteurs : Doruk Senkal ; Hakan GurocakSource :
- Mechatronics : (Oxford) [ 0957-4158 ] ; 2011.
Descripteurs français
- Pascal (Inist)
- Frein électromagnétique, Fluide magnétorhéologique, Actionneur, Commande pneumatique, Commande force, Rétroaction, Commande mouvement, Sensibilité tactile, Interface utilisateur, Levier commande, Muscle artificiel, Système 2 degrés liberté, Navigation inertie, Mesure position, Rigidité, Equipement entrée sortie, Etude expérimentale, ..
English descriptors
- KwdEn :
- Actuator, Artificial muscle, Control lever, Electromagnetic brake, Experimental study, Feedback regulation, Force control, Inertial navigation, Input output equipment, Magnetorheological fluid, Motion control, Pneumatic control, Position measurement, Stiffness, System with two degrees of freedom, Tactile sensitivity, User interface.
Abstract
In this research, a new 2-DOF hybrid actuator concept is explored as a powerful and compact alternative to conventional haptic actuators. The actuator combines a spherical MR-brake and three air muscles and is integrated into a joystick that can apply forces in two degrees-of-freedom. The air muscles are used to create high active forces in a compact volume and the brake compensates for the "spongy" feeling associated with air muscles. To decrease the overall size of the system an inertial measurement unit has been implemented as a position measurement solution. As high as 16 N of total force output could be achieved at the tip of the joystick. Also, up to 16 times improvement in the stable virtual wall stiffness was obtained when the MR-brake was used to compensate for force errors. Experiments with an impedance-based haptic controller with force-feedback gave satisfactory wall following performance. This device can be employed in applications including computer games, military or medical training applications, rehabilitation and in teleoperation of equipment where high force feedback in 2-DOF in a compact work volume may be desirable while interacting with rigid or elastic virtual objects.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
pA |
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Format Inist (serveur)
NO : | PASCAL 12-0036912 INIST |
---|---|
ET : | Haptic joystick with hybrid actuator using air muscles and spherical MR-brake |
AU : | SENKAL (Doruk); GUROCAK (Hakan) |
AF : | School of Engineering and Computer Science, Washington State University, 14204 NE Salmon Creek Ave./Vancouver, WA 98686/Etats-Unis (1 aut., 2 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2011; Vol. 21; No. 6; Pp. 951-960; Bibl. 32 ref. |
LA : | Anglais |
EA : | In this research, a new 2-DOF hybrid actuator concept is explored as a powerful and compact alternative to conventional haptic actuators. The actuator combines a spherical MR-brake and three air muscles and is integrated into a joystick that can apply forces in two degrees-of-freedom. The air muscles are used to create high active forces in a compact volume and the brake compensates for the "spongy" feeling associated with air muscles. To decrease the overall size of the system an inertial measurement unit has been implemented as a position measurement solution. As high as 16 N of total force output could be achieved at the tip of the joystick. Also, up to 16 times improvement in the stable virtual wall stiffness was obtained when the MR-brake was used to compensate for force errors. Experiments with an impedance-based haptic controller with force-feedback gave satisfactory wall following performance. This device can be employed in applications including computer games, military or medical training applications, rehabilitation and in teleoperation of equipment where high force feedback in 2-DOF in a compact work volume may be desirable while interacting with rigid or elastic virtual objects. |
CC : | 001D02B04; 001D12E04; 001B40F10 |
FD : | Frein électromagnétique; Fluide magnétorhéologique; Actionneur; Commande pneumatique; Commande force; Rétroaction; Commande mouvement; Sensibilité tactile; Interface utilisateur; Levier commande; Muscle artificiel; Système 2 degrés liberté; Navigation inertie; Mesure position; Rigidité; Equipement entrée sortie; Etude expérimentale; . |
ED : | Electromagnetic brake; Magnetorheological fluid; Actuator; Pneumatic control; Force control; Feedback regulation; Motion control; Tactile sensitivity; User interface; Control lever; Artificial muscle; System with two degrees of freedom; Inertial navigation; Position measurement; Stiffness; Input output equipment; Experimental study |
SD : | Freno electromagnético; Fluido magnetoreologico; Accionador; Mando neumático; Control fuerza; Retroacción; Control movimiento; Sensibilidad tactil; Interfase usuario; Palanca de mando; Músculo artificial; Sistema 2 grados libertad; Navegación por inercia; Medición posición; Rigidez; Equipo entrada salida; Estudio experimental |
LO : | INIST-22113.354000509945330060 |
ID : | 12-0036912 |
Links to Exploration step
Pascal:12-0036912Le document en format XML
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<front><div type="abstract" xml:lang="en">In this research, a new 2-DOF hybrid actuator concept is explored as a powerful and compact alternative to conventional haptic actuators. The actuator combines a spherical MR-brake and three air muscles and is integrated into a joystick that can apply forces in two degrees-of-freedom. The air muscles are used to create high active forces in a compact volume and the brake compensates for the "spongy" feeling associated with air muscles. To decrease the overall size of the system an inertial measurement unit has been implemented as a position measurement solution. As high as 16 N of total force output could be achieved at the tip of the joystick. Also, up to 16 times improvement in the stable virtual wall stiffness was obtained when the MR-brake was used to compensate for force errors. Experiments with an impedance-based haptic controller with force-feedback gave satisfactory wall following performance. This device can be employed in applications including computer games, military or medical training applications, rehabilitation and in teleoperation of equipment where high force feedback in 2-DOF in a compact work volume may be desirable while interacting with rigid or elastic virtual objects.</div>
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<ET>Haptic joystick with hybrid actuator using air muscles and spherical MR-brake</ET>
<AU>SENKAL (Doruk); GUROCAK (Hakan)</AU>
<AF>School of Engineering and Computer Science, Washington State University, 14204 NE Salmon Creek Ave./Vancouver, WA 98686/Etats-Unis (1 aut., 2 aut.)</AF>
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<LA>Anglais</LA>
<EA>In this research, a new 2-DOF hybrid actuator concept is explored as a powerful and compact alternative to conventional haptic actuators. The actuator combines a spherical MR-brake and three air muscles and is integrated into a joystick that can apply forces in two degrees-of-freedom. The air muscles are used to create high active forces in a compact volume and the brake compensates for the "spongy" feeling associated with air muscles. To decrease the overall size of the system an inertial measurement unit has been implemented as a position measurement solution. As high as 16 N of total force output could be achieved at the tip of the joystick. Also, up to 16 times improvement in the stable virtual wall stiffness was obtained when the MR-brake was used to compensate for force errors. Experiments with an impedance-based haptic controller with force-feedback gave satisfactory wall following performance. This device can be employed in applications including computer games, military or medical training applications, rehabilitation and in teleoperation of equipment where high force feedback in 2-DOF in a compact work volume may be desirable while interacting with rigid or elastic virtual objects.</EA>
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<ED>Electromagnetic brake; Magnetorheological fluid; Actuator; Pneumatic control; Force control; Feedback regulation; Motion control; Tactile sensitivity; User interface; Control lever; Artificial muscle; System with two degrees of freedom; Inertial navigation; Position measurement; Stiffness; Input output equipment; Experimental study</ED>
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