HapticV1, PascalFrancis, Curation, bibRecord, 000891

Torque control of electrorheological fluidic actuators

Identifieur interne : 000891 ( PascalFrancis/Curation ); précédent : 000890; suivant : 000892

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.

A08	`01`	`1`	`ENG`	`@1 Torque control of electrorheological fluidic actuators`
A09	`01`	`1`	`ENG`	`@1 Proceedings of the 2004 American Control Conference ACC : June 30-July 2, 2004, Boston Massachusetts`
A11	`01`	`1`		`@1 VITRANI (M. A.)`
A11	`02`	`1`		`@1 NIKITCZUK (J.)`
A11	`03`	`1`		`@1 MOREL (G.)`
A11	`04`	`1`		`@1 MAVROIDIS (C.)`
A14	`01`			`@1 Laboratoire de Robotique de Paris (LRP) 18, route du Panorama - BP 61 @2 92265 Fontenay-aux-Roses @3 FRA @Z 1 aut. @Z 3 aut.`
A14	`02`			`@1 Department of Mechanical and Industrial Engineering 375 Snell Engineering Center, Northeastern University 360 Huntington Avenue @2 Boston MA 02115 @3 USA @Z 2 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 American Automatic Control Council @3 USA @9 org-cong.`
A18	`02`	`1`		`@1 American Institute of Aeronautics and Astronautics @3 USA @9 org-cong.`
A18	`03`	`1`		`@1 International Federation of Automatic Control @3 USA @9 org-cong.`
A20				`@1 5072-5077`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 American Automatic Control Council @2 Evanston IL`
A25	`02`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8335-4`
A30	`01`	`1`	`ENG`	`@1 American Control Conference @2 22 @3 Boston MA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38918 @5 354000153488588580`
A44				`@0 0000 @1 © 2007 INIST-CNRS. All rights reserved.`
A45				`@0 14 ref.`
A47	`01`	`1`		`@0 07-0014672`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D`
C03	`01`	`X`	`FRE`	`@0 Commande couple @5 06`
C03	`01`	`X`	`ENG`	`@0 Torque control @5 06`
C03	`01`	`X`	`SPA`	`@0 Mando de par @5 06`
C03	`02`	`X`	`FRE`	`@0 Commande fluidique @5 07`
C03	`02`	`X`	`ENG`	`@0 Fluidic control @5 07`
C03	`02`	`X`	`SPA`	`@0 Mando fluídico @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande boucle fermée @5 08`
C03	`03`	`X`	`ENG`	`@0 Closed feedback @5 08`
C03	`03`	`X`	`SPA`	`@0 Bucle realimentación cerrada @5 08`
C03	`04`	`X`	`FRE`	`@0 Commande non linéaire @5 09`
C03	`04`	`X`	`ENG`	`@0 Non linear control @5 09`
C03	`04`	`X`	`SPA`	`@0 Control no lineal @5 09`
C03	`05`	`X`	`FRE`	`@0 Commande proportionnelle intégrale @5 10`
C03	`05`	`X`	`ENG`	`@0 Integral proportional control @5 10`
C03	`05`	`X`	`SPA`	`@0 Control PI @5 10`
C03	`06`	`X`	`FRE`	`@0 Boucle anticipation @5 11`
C03	`06`	`X`	`ENG`	`@0 Feedforward @5 11`
C03	`06`	`X`	`SPA`	`@0 Ciclo anticipación @5 11`
C03	`07`	`X`	`FRE`	`@0 Rhéologie @5 18`
C03	`07`	`X`	`ENG`	`@0 Rheology @5 18`
C03	`07`	`X`	`SPA`	`@0 Reología @5 18`
C03	`08`	`X`	`FRE`	`@0 Fluide électrorhéologique @5 19`
C03	`08`	`X`	`ENG`	`@0 Electrorheological fluid @5 19`
C03	`08`	`X`	`SPA`	`@0 Fluido electroreologico @5 19`
C03	`09`	`X`	`FRE`	`@0 Actionneur @5 20`
C03	`09`	`X`	`ENG`	`@0 Actuator @5 20`
C03	`09`	`X`	`SPA`	`@0 Accionador @5 20`
C03	`10`	`X`	`FRE`	`@0 Sensibilité tactile @5 21`
C03	`10`	`X`	`ENG`	`@0 Tactile sensitivity @5 21`
C03	`10`	`X`	`SPA`	`@0 Sensibilidad tactil @5 21`
C03	`11`	`X`	`FRE`	`@0 Opérateur humain @5 22`
C03	`11`	`X`	`ENG`	`@0 Human operator @5 22`
C03	`11`	`X`	`SPA`	`@0 Operador humano @5 22`
C03	`12`	`X`	`FRE`	`@0 Champ électrique @5 28`
C03	`12`	`X`	`ENG`	`@0 Electric field @5 28`
C03	`12`	`X`	`SPA`	`@0 Campo eléctrico @5 28`
C03	`13`	`X`	`FRE`	`@0 Modélisation @5 29`
C03	`13`	`X`	`ENG`	`@0 Modeling @5 29`
C03	`13`	`X`	`SPA`	`@0 Modelización @5 29`
N21				`@1 008`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Pascal:07-0014672

Le document en format XML

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<term>Fluidic control</term>
<term>Human operator</term>
<term>Integral proportional control</term>
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<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>
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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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<fC01 i1="01" l="ENG"><s0>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.</s0>
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<fC02 i1="01" i2="X"><s0>001D02D</s0>
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<s5>06</s5>
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<s5>07</s5>
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<s5>07</s5>
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<fC03 i1="02" i2="X" l="SPA"><s0>Mando fluídico</s0>
<s5>07</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>09</s5>
</fC03>
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<s5>09</s5>
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<s5>09</s5>
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<s5>10</s5>
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<s5>10</s5>
</fC03>
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<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Boucle anticipation</s0>
<s5>11</s5>
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<fC03 i1="06" i2="X" l="ENG"><s0>Feedforward</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Ciclo anticipación</s0>
<s5>11</s5>
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<s5>18</s5>
</fC03>
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<s5>18</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>21</s5>
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<s5>21</s5>
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<s5>22</s5>
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<s5>22</s5>
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<s5>22</s5>
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<s5>28</s5>
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<s5>28</s5>
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<fC03 i1="12" i2="X" l="SPA"><s0>Campo eléctrico</s0>
<s5>28</s5>
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<fC03 i1="13" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Modeling</s0>
<s5>29</s5>
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<fC03 i1="13" i2="X" l="SPA"><s0>Modelización</s0>
<s5>29</s5>
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<fN21><s1>008</s1>
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</pA>
</standard>
</inist>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Curation

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000891 | SxmlIndent | more

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Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Curation
   |type=    RBID
   |clé=     Pascal:07-0014672
   |texte=   Torque control of electrorheological fluidic actuators
}}

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	Serveur d'exploration sur les dispositifs haptiques
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Serveur d'exploration sur les dispositifs haptiques

Torque control of electrorheological fluidic actuators

Torque control of electrorheological fluidic actuators

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Abstract

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Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri