Fundamental characteristics of force feedback method using elastic spring and magneto-rheological fluid clutch

Rattan on frequently attacked by the powder post beetle (Tellu, 2001). The prevention of dry powder attacks is done by preservation. The increasing resistant of rattan from insect attack can be done by an environmentally friendly preservative, the Galam wood vinegar. This research aims to determine the most effective concentration of preservative that shows the lowest attacks level of D. Farb minutus powder. The rattan used is green rattan (Calamus sp.) The concentration of preservative that are used:10%, 40%, 70% and 100%. The testing of dry powder attack used force feedback method. The effectiveness test parameters of wood vinegar to dry powder attacks included degree of protection Dinoderus minutus Farb. powder, reduction percentage of rattan weight and the mortality of dry powder Dinoderus sp for toxicological testing of wood vinegar. The test results showed that the degree of protection powder in rattan growing along with the increased concentration of preservatives. The higher the concentration of wood vinegar, the smaller the reduction of rattan weight and the higher the mortality rate of dry powder. Keywords: resistant of rattan, wood vinegar, Dinoderus minutus.

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1A1-I09 Force feedback method of relaying proprioception in telexistence systems

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2008._1a1-i09_1 ◽

2008 ◽

Vol 2008 (0) ◽

pp. _1A1-I09_1-_1A1-I09_3

Author(s):

Souichiro Fukamachi ◽

Kouta Minamizawa ◽

Kouichi Watanabe ◽

Naoki Kawakami ◽

Susumu Tachi

Keyword(s):

Force Feedback ◽

Feedback Method

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Contact Force Control of Three-Dimensional Flexible Manipulator

10.20944/preprints202011.0044.v1 ◽

2020 ◽

Author(s):

Minoru Sasaki ◽

Shunta Ito ◽

Daiki Maeno ◽

Waweru Njeri ◽

Muguro Josephh ◽

...

Keyword(s):

Contact Force ◽

Force Control ◽

Degrees Of Freedom ◽

Force Feedback ◽

Three Dimensional ◽

Flexible Manipulator ◽

Force Tracking ◽

Feedback Method ◽

Three Degrees Of Freedom ◽

Contact Force Control

This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

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The Method of the Coal Mining Machine Height Control Based on Magneto-Rheological Tactile Reappearance

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.33.704 ◽

2010 ◽

Vol 33 ◽

pp. 704-708

Author(s):

Chun Rui Tang ◽

Can Zhao ◽

Hua Jun Li

Keyword(s):

Coal Mining ◽

Force Feedback ◽

Control Method ◽

Worker Safety ◽

Mining Machine ◽

Floor Rock ◽

Height Control ◽

Equipment Reliability ◽

Sensing Technology ◽

Magneto Rheological

Through analyzing height character of the coal mining machine, the method of height control of the coal mining machine based on touch sensing technology of magneto-rheological valve is proposed. The controller exports control signal based on extracting current and speed signals of shearer cutting motor and controls touch sensing force feedback based on magneto-rheological valve. The operator can accurate and duly adjust roller height of the coal mining machine. The result of simulations and experiments show that the method is important to avoid the coal mining machine cutting the roof and floor rock and maintain the roof and floor of the formation face, and extend machine life, improve equipment reliability, protect worker safety, improve coal quality. This structure of control method is simple and easy to achieve which has a certain application foreground.

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Force feedback system using magneto-rheological fluids for telerobotic surgery

10.1117/12.475097 ◽

2002 ◽

Cited By ~ 4

Author(s):

Vijay A. Neelakantan ◽

Gregory N. Washington ◽

Randall K. Wolf

Keyword(s):

Force Feedback ◽

Feedback System ◽

Telerobotic Surgery ◽

Magneto Rheological

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Series damper actuator system based on MR fluid damper

Robotica ◽

10.1017/s0263574706002876 ◽

2006 ◽

Vol 24 (6) ◽

pp. 699-710 ◽

Cited By ~ 7

Author(s):

Chee-Meng Chew ◽

Geok-Soon Hong ◽

Wei Zhou

Keyword(s):

Force Feedback ◽

Mr Damper ◽

Viscous Damper ◽

Control Loop ◽

Bingham Model ◽

Mr Fluid ◽

Fluid Damper ◽

Actuator System ◽

Magneto Rheological ◽

Mr Fluid Damper

In our recent work, we have proposed a novel force control actuator system called series damper actuator (SDA). We have since built an SDA system based on magneto-rheological fluid (MR) damper. In this paper, the dynamics property of SDA system based on the MR fluid damper (SMRDA) is investigated. The effect of the extra dynamics introduced by the MR fluid damper is revealed by comparing the SMRDA with the SDA system based on a linear Newtonian viscous damper (SNVDA). To linearize the constitutive property of the MR fluid damper, a modified Bingham model is proposed. A force feedback control loop is implemented after the linearization. An experimental SMRDA is built to illustrate the performance of the SDA system.

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Design and Simulation of an MR Fluids-Based Haptic Actuator for Mobile Applications

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation ◽

10.1115/smasis2013-3055 ◽

2013 ◽

Cited By ~ 1

Author(s):

Semin Ryu ◽

Jeong-Hoi Koo ◽

Tae-Heon Yang ◽

Dongbum Pyo ◽

Ki-Uk Kyung ◽

...

Keyword(s):

Simulation Model ◽

Mobile Applications ◽

Force Feedback ◽

Resistive Force ◽

Design Goal ◽

Piston Head ◽

Mr Fluids ◽

Magneto Rheological ◽

Novel Design ◽

Model Dimension

This study presents a novel design of a miniature haptic actuator based on Magneto-Rheological (MR) fluids for mobile applications, and it evaluates the performance of a haptic actuator using a simulation model. The primary design goal for a haptic actuator for mobile applications is to miniaturize its size while generating realistic haptic sensations. To this end, this study proposes to design the MR actuator’s piston head (or plunger) in cone-shape and activate multiple modes of MR fluids (direct shear, flow and squeeze modes). Using a simulation model developed by integrating magnetic and force equations, the performance of a haptic actuator was evaluated in terms of the force (resistive force) produced by the actuator. The results show that a small actuator model, dimension of 10 mm (L) × 10 mm (W) × 6.5 mm (H), produced a maximum resistive force of about 5 N at 0.3 Watts, which is sufficient to provide force feedback to users.

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Application of Surface Display into Shape Forming Task

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1997.p0185 ◽

1997 ◽

Vol 9 (3) ◽

pp. 185-192

Author(s):

Koichi Hirota ◽

◽

Jun Saito ◽

Michitaka Hirose ◽

◽

...

Keyword(s):

Force Feedback ◽

Surface Display ◽

Surface Force ◽

Modeling Environment ◽

Feedback Method

The sensation of Touch and force is generated or conducted through the phenomenon of contact. This fact make us aware of a new force feedback method, which was named the concept of Surface Display. In this concept, we are remarking not on the force between the user and the object but on the surface and existence of the object. The force feedback device based on this concept presents the surface of an object, the user interact with surface. Force is caused only as a result and it is measured by the device for the simulation of the behavior of the object. In this paper, the application of the device into a shape forming task is discussed. We have developed a kind of the virtual clay modeling environment, in which the shape of the surface can be changed by pushing directly on the surface. Sensation of making contact with the surface and the sensation of force caused by the elas ticity of the clay is fedback by using the device. From an experiment in the environment, the importance and effectiveness of force feedback were made clear.

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