Improvement of response properties of MR-fluid actuator by torque feedback control

Takesue, Naoyuki; Furusho, Junji; Sakaguchi, Masamichi

doi:10.1109/robot.2001.933214

Cited by 23 publications

(16 citation statements)

References 4 publications

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“…Thus shear stress can be controlled by modulating the field intensity. MRF are capable of much higher yield stresses than ERF [7]). This means a much smaller MRF brake/clutch is needed for a given application.…”

Section: The Controllable Fluid Clutchesmentioning

confidence: 98%

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Modeling of magneto rheological fluid actuator enabling safe human-robot interaction

Ahmed

Kalaykov

Ananiev

2008

2008 IEEE International Conference on Emerging Technologies and Factory Automation

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Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for humanrobot manipulation interactive tasks.

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Section: The Controllable Fluid Clutchesmentioning

confidence: 98%

“…This means a much smaller MRF brake/clutch is needed for a given application. MRF also have a larger operable temperature range [7]. Jerk-less transition of torque and small response time are the characteristics properties of MRF brakes/clutches [6].…”

Section: The Controllable Fluid Clutchesmentioning

confidence: 99%

Modeling of magneto rheological fluid actuator enabling safe human-robot interaction

Ahmed

Kalaykov

Ananiev

2008

2008 IEEE International Conference on Emerging Technologies and Factory Automation

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“…If robots are subjected to strong force by any accidents, they have possibility of hurting people around. Then, passive actuators have been researeched [3], [4], [5], [6], [7], [8], [9], [10], [11], [12]. Compared to active actuators such as electorical motors, passive actuators generates force only when they are subjected to external force.…”

Section: Introductionmentioning

confidence: 99%

Robust motion control of MR-fluid actuator based on disturbance observer

Miura

Katsura

2013

2013 IEEE International Conference on Mechatronics (ICM)

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Recently, interactions between humans and robots have been changed in order to solve the problems of the aged society. Opportunities that robots touch directly on humans have been increasing. However, active actuators are often used in order to generate force and perform their tasks and they have possibility of hurting people around. Then, stable passive actuators would be substituted for active ones. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate resisitive force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator is constructed using magnethorheological (MR) fluids and is nominalized based on disturbance observer in order to become robust for inner state of MR fluid and to be regarded as an active actuator. By experiments, the validity of the proposed method is verified.

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“…Many researchers have proposed useful applications for these properties, such as in dampers, sensors, actuators [2][3] and medical applications [4]- [6]. J.Furusho et al [7] developed MR-Fluid Actuator, controlled it by use of torque Feedback. He also developed 6-DOF Rehabilitation System driven by ER-Actuator [8].…”

Section: Introductionmentioning

confidence: 99%

New Magnetic Translation/Rotation Drive by Use of Magnetic Particles with Specific Gravity Smaller than a Liquid

Nokata¹

2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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Improvement of response properties of MR-fluid actuator by torque feedback control

Cited by 23 publications

References 4 publications

Modeling of magneto rheological fluid actuator enabling safe human-robot interaction

Modeling of magneto rheological fluid actuator enabling safe human-robot interaction

Robust motion control of MR-fluid actuator based on disturbance observer

New Magnetic Translation/Rotation Drive by Use of Magnetic Particles with Specific Gravity Smaller than a Liquid

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