Design and Control of a Dual Unidirectional Brake Hybrid Actuation System for Haptic Devices

2014 ◽  
Vol 7 (4) ◽  
pp. 442-453 ◽  
Author(s):  
Carlos Rossa ◽  
Jose Lozada ◽  
Alain Micaelli
Keyword(s):  
Haptic Devices ◽  
Actuation System ◽  
Hybrid Actuation ◽  
And Control

scholarly journals A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1249
Author(s):  
Zhongyi Li ◽  
Chunyang Li ◽  
Lixin Dong ◽  
Jing Zhao
Keyword(s):  
Medical Imaging ◽  
System Integration ◽  
Working Environment ◽  
Delivery Methods ◽  
Actuation System ◽  
Imaging Algorithms ◽  
Hybrid Actuation ◽  
Actuation Systems ◽  
And Control

Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.

Design, development, and testing of a lightweight hybrid robotic knee prosthesis

2018 ◽  
Vol 37 (8) ◽  
pp. 953-976 ◽  
Author(s):  
Tommaso Lenzi ◽  
Marco Cempini ◽  
Levi Hargrove ◽  
Todd Kuiken
Keyword(s):  
Electric Motor ◽  
Knee Prosthesis ◽  
Gait Pattern ◽  
Design Development ◽  
Passive Mode ◽  
Active Mode ◽  
Actuation System ◽  
Hybrid Actuation ◽  
And Control ◽  
Stair Ambulation

We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that enables passive and active operation modes. The proposed hybrid knee uses a spring-damper system in combination with an electric motor and transmission system, which can be engaged to provide a stair ambulation capability. In comparison to fully powered prostheses that power all ambulation activities, a hybrid knee prosthesis can achieve significant weight reduction by focusing the design of the actuator on a subset of activities without losing the ability to produce equivalent torque and mechanical power in the active mode. The hybrid knee prototype weighs 1.7 kg, including battery and control, and can provide up to 125 Nm of repetitive torque. Experiments with two transfemoral amputee subjects show that the proposed hybrid knee prosthesis can support walking on level ground in the passive mode, as well as stair ambulation with a reciprocal gait pattern in the active mode.

scholarly journals A Dedicated Design Strategy for Active Boring Bar

2019 ◽  
Vol 9 (17) ◽  
pp. 3541 ◽  
Author(s):  
Niccolò Grossi ◽  
Lisa Croppi ◽  
Antonio Scippa ◽  
Gianni Campatelli
Keyword(s):  
Operating Conditions ◽  
Dynamic Characterization ◽  
Control Logic ◽  
Boring Bar ◽  
Actuation System ◽  
Static Equivalence ◽  
And Control ◽  
Cutting System ◽  
Damping Systems ◽  
Critical Aspects

Unstable vibrations (i.e., chatter) onset is one of the main limits to productivity in deep boring bar processes. Active damping systems allow to increase machining stability in different configurations (i.e., tool setup), without requiring cutting system dynamic characterization. Design of an active boring bar involves the development of monitoring system (sensors), actuation system and control logic. While several control logics were evaluated and discussed, few design solutions were presented in the literature, focusing only on building prototypes to demonstrate control logic effectiveness. In the presented work, a deep analysis of the main issues and requirements related to active boring design was carried out and a systematic approach to tackle all the critical aspects was developed. The results of the proposed method are: (i) optimal actuators positioning able to damp vibration along two directions; (ii) preload system design guaranteeing the correct actuator preloading for the operating conditions; (iii) covers design to protect actuators and ensure the dynamic and static equivalence between active and standard boring bar. Following this approach, an active boring bar was designed, realized and tested. The results prove the required equivalence between active and original boring bar and assess the damping effect.

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

Haptics: The Present and Future of Artificial Touch Sensation

2018 ◽  
Vol 1 (1) ◽  
pp. 385-409 ◽  
Author(s):  
Heather Culbertson ◽  
Samuel B. Schorr ◽  
Allison M. Okamura
Keyword(s):  
Haptic Feedback ◽  
Haptic Devices ◽  
Present Information ◽  
Touch Sensation ◽  
Haptic Technology ◽  
Feedback Modalities ◽  
Sense Of Touch ◽  
And Control ◽  
Virtual Interactions ◽  
Human Sense

This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.

Theoretical Modeling for Electroactive Polymer-Ceramic Hybrid Actuation Systems

Aerospace ◽  
2004 ◽  
Author(s):  
Tian-Bing Xu ◽  
Ji Su
Keyword(s):  
Performance Optimization ◽  
High Performance ◽  
Electroactive Polymer ◽  
Actuation System ◽  
Electromechanical Responses ◽  
Electromechanical Performance ◽  
New Type ◽  
Hybrid Actuation ◽  
Actuation Systems ◽  
Further Development

An electroactive polymer-ceramic hybrid actuation system (HYBAS) was recently developed. The HYBAS demonstrates significantly-enhanced electromechanical performance by utilizing advantages of cooperative contributions of the electromechanical responses of an electrostrictive copolymer and an electroactive single crystal. The hybrid actuation system provides not only a new type of device but also a concept to utilize different electroactive materials in a cooperative and efficient method for optimized electromechanical performance. In order to develop an effective procedure to optimize the performance of a hybrid actuation system (HYBAS), a theoretical model has been developed, based on the elastic and electromechanical properties of the materials utilized in the system and on the configuration of the device. The model also evaluates performance optimization as a function of geometric parameters, including the length of the HYBAS and the thickness ratios of the constituent components. The comparison between the model and the experimental results shows a good agreement and validates the model as an effective method for the further development of high performance actuating devices or systems for various applications.

Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator

2020 ◽  
Author(s):  
Dominik Scholtes ◽  
Stefan Seelecke ◽  
Gianluca Rizzello ◽  
Paul Motzki
Keyword(s):  
Shape Memory ◽  
High Energy ◽  
Industrial Applications ◽  
High Energy Density ◽  
Small Scale ◽  
Monitoring And Control ◽  
Actuation System ◽  
First Results ◽  
Functional Prototype ◽  
And Control

Abstract Within industrial manufacturing most processing steps are accompanied by transporting and positioning of workpieces. The active interfaces between handling system and workpiece are industrial grippers, which often are driven by pneumatics, especially in small scale areas. On the way to higher energy efficiency and digital factories, companies are looking for new actuation technologies with more sensor integration and better efficiencies. Commonly used actuators like solenoids and electric engines are in many cases too heavy and large for direct integration into the gripping system. Due to their high energy density shape memory alloys (SMA) are suited to overcome those drawbacks of conventional actuators. Additionally, they feature self-sensing abilities that lead to sensor-less monitoring and control of the actuation system. Another drawback of conventional grippers is their design, which is based on moving parts with linear guides and bearings. These parts are prone to wear, especially in abrasive environments. This can be overcome by a compliant gripper design that is based on flexure hinges and thus dispenses with joints, bearings and guides. In the presented work, the development process of a functional prototype for a compliant gripper driven by a bistable SMA actuation unit for industrial applications is outlined. The focus lies on the development of the SMA actuator, while the first design approach for the compliant gripper mechanism with solid state joints is proposed. The result is a working gripper-prototype which is mainly made of 3D-printed parts. First results of validation experiments are discussed.

scholarly journals A new active asymmetry monitoring and control technique applied to critical aircraft flap control system failures

2019 ◽  
Vol 304 ◽  
pp. 04011
Author(s):  
Dario Belmonte ◽  
Matteo Davide Lorenzo Dalla Vedova ◽  
Gaetano Quattrocchi
Keyword(s):  
Control System ◽  
Flight Control ◽  
Angular Position ◽  
Control Technique ◽  
Monitoring And Control ◽  
Active Monitoring ◽  
Actuation System ◽  
Left And Right ◽  
And Control ◽  
Current Monitoring

Asymmetry limitation requirements between left and right wing flap surfaces play an important role in the design of the implementation of the secondary flight control system of modern airplanes. In fact, especially in the case of sudden breaking of one of the torsion bars of the flap transmission line, the huge asymmetries that can rapidly develop could compromise the lateral-directional controllability of the whole aircraft (up to cause catastrophic occurrences). Therefore, in order to guarantee the aircraft safety (especially during take-off and landing flight phase in which the effects of asymmetries could generate uncontrollable aircraft attitudes), it is mandatory to timely detect and neutralize these asymmetries. The current monitoring techniques generally evaluate the differential angular position between left and right surfaces and, in most the events, limit the Flaps Control System (FCS) asymmetries, but in severe fault conditions (e.g. under very high aerodynamic loads), unacceptable asymmetries could be generated, compromising the controllability of the aircraft. To this purpose, in this paper the authors propose a new active monitoring and control technique capable of detecting the increasing angular error between the different flap surfaces and that, after stopping the whole actuation system, acts on the portion of the actuation line still connected to the PDU to minimize the FCS asymmetries.

scholarly journals Systematic framework for performance evaluation of exoskeleton actuators

2020 ◽  
Vol 1 ◽  
Author(s):  
Christian Di Natali ◽  
Stefano Toxiri ◽  
Stefanos Ioakeimidis ◽  
Darwin G. Caldwell ◽  
Jesús Ortiz
Keyword(s):  
Evaluation Method ◽  
Inverse Dynamics ◽  
Dynamic Performance ◽  
Human Robot Interaction ◽  
Control Algorithms ◽  
Kinematics And Dynamics ◽  
Actuation System ◽  
And Control ◽  
Systematic Framework ◽  
Actuator Performance

Abstract Wearable devices, such as exoskeletons, are becoming increasingly common and are being used mainly for improving motility and daily life autonomy, rehabilitation purposes, and as industrial aids. There are many variables that must be optimized to create an efficient, smoothly operating device. The selection of a suitable actuator is one of these variables, and the actuators are usually sized after studying the kinematic and dynamic characteristics of the target task, combining information from motion tracking, inverse dynamics, and force plates. While this may be a good method for approximate sizing of actuators, a more detailed approach is necessary to fully understand actuator performance, control algorithms or sensing strategies, and their impact on weight, dynamic performance, energy consumption, complexity, and cost. This work describes a learning-based evaluation method to provide this more detailed analysis of an actuation system for our XoTrunk exoskeleton. The study includes: (a) a real-world experimental setup to gather kinematics and dynamics data; (b) simulation of the actuation system focusing on motor performance and control strategy; (c) experimental validation of the simulation; and (d) testing in real scenarios. This study creates a systematic framework to analyze actuator performance and control algorithms to improve operation in the real scenario by replicating the kinematics and dynamics of the human–robot interaction. Implementation of this approach shows substantial improvement in the task-related performance when applied on a back-support exoskeleton during a walking task.

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