Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

Wang, Daoming; Wang, Yakun; Pang, Jiawei; Wang, Zheng-Yu; Zi, Bin

doi:10.1109/access.2019.2956954

Cited by 10 publications

(5 citation statements)

References 52 publications

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“…With the Magnetorheological (MR) fluid (MRF) is intelligent material that typically contain ferromagnetic particles suspended in a carrier fluid. Owing to its excellent rheological properties, MRF has acquired considerable applications in various fields, including automobile suspension, bridge damping, polishing, and active prosthetic knee [2][3][4][5]. The MR brake (MRB),featuring the MRF as the braking medium, can rapidly and reversibly change its braking torque in response to a magnetic field to realize controllable braking of moving machinery.…”

Section: Introductionmentioning

confidence: 99%

Optimal design and stability control of an automotive magnetorheological brake considering the temperature effect

Wang¹,

Yang²,

Luo³

et al. 2023

Smart Mater. Struct.

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Magnetorheological brake (MRB) provide a potential alternative to traditional mechanical friction brakes in automobile applications owing to their technical advantages in terms of being compact yet powerful, having superior control performance, and wire-control features. However, the temperature effect has been an important issue that should be considered in the design and precise control of MRB. This paper presents the multi-objective optimal design and stability control of an automotive MRB considering the temperature effect. First, a description of the configuration design, magnetostatic field simulation, and mathematical modelling of the automotive MRB is presented in detail. Subsequently, design optimization of the MRB is carried out. The design of experiment method was adopted to screen out the major design variables, and the optimal solution was obtained using a multi-objective genetic algorithm (GA) NSGA-II. Thereafter, the torque output and response performance, as well as the temperature characteristics of the optimal MRB prototype are experimentally evaluated. The results indicate that the optimal design of the MRB was reasonable and effective. Finally, a GA-based back propagation neural network proportion integration differentiation controller is proposed for the stability control of the MRB during automobile braking. Its performance was verified to be satisfactory through both simulations and experiments.

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Section: Introductionmentioning

confidence: 99%

Optimal design and stability control of an automotive magnetorheological brake considering the temperature effect

Wang¹,

Yang²,

Luo³

et al. 2023

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Compared to commercial and other force feedback gloves [17][18][19][20][21][22][23][24][25], the proposed glove mechanism has the following disadvantages: (1) Lack of soft wearability-The glove is mounted on the finger through Velcro, and each finger needs to be fixed separately, resulting in a complicated wearing process. Furthermore, the finger is connected to the rigid linkage structure directly, resulting in an uncomfortable feeling; (2) Slow response speed-While the response speed under constrained workspace has increased by more than 50% compared to that reported in the literature [11], the response speed remains relatively low, especially in the free workspace.…”

Section: Discussion and Future Workmentioning

confidence: 99%

“…Therefore, Wang D X et al [17] proposed a variable stiffness passive force feedback, in which the stiffness of the glove is tuned by changing the structural stiffness; the switch between free and constrained space is realized in real time by locking/unlocking the revolute joints of the glove using a servo motor, but the structure is complex. Wang D M et al [18] developed a force feedback glove using a magnetorheological (MR) damper to provide viable feedback force, while it has the shortcoming of a slow response time.…”

Section: Introductionmentioning

confidence: 99%

A Lightweight Exoskeleton Force Feedback Glove

Peng,

Yu,

Geng

et al. 2023

Actuators

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The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs only 278 g. The glove features a bionic structure and optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, a detailed illustration of the kinematic and dynamic analyses, as well as the circuit structure, was presented. With this prototype as the basis, an isomorphic teleoperation system is designed to achieve force feedback during teleoperation. Concurrently, a driving force-based impedance controller was proposed to enable smooth and precise force feedback. Finally, the performance of the EFFG prototype was evaluated in both unconstrained and constrained environments, demonstrating that the proposed glove is lightweight, capable of detecting driving force, and provides flexible force feedback.

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“…After manufacturing the master device and the slave robot, the performance of the proposed system was experimentally validated in terms of the tracking control of the desired position and the repulsive torque. Wang et al [82] developed a data glove featuring a MR-brake-based haptic actuator and experimentally investigated its force-feedback performance. The results verified the feasibility and stability of the proposed force-feedback data glove by demonstrating feedback force tracking control accuracy.…”

Section: Haptic Device Applicationmentioning

confidence: 99%

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

Sohn

Choi

2022

Actuators

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This review article presents various multi-DOF application systems that utilize smart magnetorheological (MR) fluid. It is well known that MR fluid has been actively studied and applied in many practical systems such as vehicle suspension dampers. The design requirements for the effective applications of MR fluid include geometry optimization, working principles, and control schemes. The geometry optimization is mostly related to the size minimization with high damping force, while the working principles are classified into the shear mode, the flow mode, and the squeeze mode depending on the dominant dynamic motion of the application system. The control schemes are crucial to achieve final targets such as robust vibration control against disturbances. It should be addressed that advanced output performances of MR application systems heavily depends on these three requirements. This review article presents numerous application systems such as sandwich structures, dampers, mounts, brakes, and clutches, which have been developed considering the three design requirements. In addition, in this article some merits and demerits of each application system are discussed to enable potential researchers to develop more effective and practical MR application systems featuring the multi-DOF dynamic motions.

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Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

Cited by 10 publications

References 52 publications

Optimal design and stability control of an automotive magnetorheological brake considering the temperature effect

Optimal design and stability control of an automotive magnetorheological brake considering the temperature effect

A Lightweight Exoskeleton Force Feedback Glove

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

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