Closed-loop Control of a Pneumatic Artificial Muscle Actuated 2-DOF Delta Mechanism with Adaptive Hysteresis Compensation

Based on magnetorheological fluid, magnetorheological brake can exhibit promising characteristics in haptics such as intrinsic passiveness and high torque density. The main difficulty in applying magnetorheological brake lies in the magnetic hysteresis. To deal with the magnetic hysteresis, a magnetorheological brake was combined with a micromotor to construct a hybrid actuator in this article. A novel hollowed multi-drum architecture was adopted for the brake so that the micromotor could be placed inside the brake to obtain a compact structure. The brake produced the maximum torque of 1263.39 mN m with 40 mm diameter and 28 mm length. Through the closed-loop control, no obvious hysteresis loop was observed in the hybrid actuator current–torque figure. The maximum difference between the forward and backward torque was reduced from 7.2% to 1.94% of the total torque range. The dynamic range was increased from 41.17 to 45.42 dB. Furthermore, the experimental results proved that the hybrid actuator could track the reference signals more accurately than the brake.

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Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

Actuators ◽

10.3390/act3020142 ◽

2014 ◽

Vol 3 (2) ◽

pp. 142-161 ◽

Cited By ~ 8

Author(s):

Bertrand Tondu

Keyword(s):

Muscle Contraction ◽

Closed Loop ◽

Artificial Muscle ◽

Closed Loop Control ◽

Loop Control ◽

Integral Action ◽

Single Integral

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Improvement of the performance of hysteresis compensation in SMA actuators by using inverse Preisach model in closed — loop control system

Journal of Mechanical Science and Technology ◽

10.1007/bf02915980 ◽

2006 ◽

Vol 20 (5) ◽

pp. 634-642 ◽

Cited By ~ 12

Author(s):

Kyoung Kwan Ahn ◽

Nguyen Bao Kha

Keyword(s):

Control System ◽

Closed Loop ◽

Closed Loop Control ◽

Preisach Model ◽

Loop Control ◽

Sma Actuators ◽

Hysteresis Compensation ◽

Closed Loop Control System ◽

Loop Control System

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The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

Zeitschrift für Psychologie ◽

10.1027/2151-2604/a000084 ◽

2012 ◽

Vol 220 (1) ◽

pp. 3-9 ◽

Cited By ~ 4

Author(s):

Sandra Sülzenbrück

Keyword(s):

Empirical Research ◽

Visual Feedback ◽

Closed Loop ◽

Motor Planning ◽

Visual Input ◽

Closed Loop Control ◽

Loop Control ◽

Feedback Type ◽

Effective Use ◽

The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

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