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

Ahmed, Rehan M.; Kalaykov, Ivan; Ananiev, Anani

doi:10.1109/etfa.2008.4638512

Cited by 11 publications

(10 citation statements)

References 11 publications

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“…They concluded that, in order to build a safety device capable of controlling the torque output of the robot joint axis and securing the holding torque in an emergency case, the proposed MR clutch was a promising candidate for practical implementation. Ahmed et al [24,25] developed a robot-arm system featuring an MR clutch/brake to accomplish a safe human-robot interaction, which is a type of compliance control. Fauteux et al [26] proposed a dual-differential rheological actuator (DDRA) to investigate the feasibility of high-performance robotic interactions, in which safety, robustness, and versatility are paramount.…”

Section: Mrf-based Robotsmentioning

confidence: 99%

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

2018

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Over the last two decades, smart materials have received significant attention over a broad range of engineering applications because of their unique and inherent characteristics for actuating and sensing aspects. In this review article, recent research works on various robots, medical devices and rehabilitation mechanisms whose main functions are activated by smart materials are introduced and discussed. Among many smart materials, electro-rheological fluids, magneto-rheological fluids, and shape memory alloys are considered since there are mostly appropriate application candidates for the robot and medical devices. Many different types of robots proposed to date, such as parallel planar robots, are investigated focusing on design configuration and operating principles. In addition, specific mechanism and operating principles of medical devices and rehabilitation systems are introduced and commented in terms of practical realization.

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Section: Mrf-based Robotsmentioning

confidence: 99%

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

2018

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“…The study of this subject has led to the study of new control and actuation mechanisms for robots. It has been shown that new actuation technologies are essential components of the future generations of human-safe robots [1]- [4].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Modeling of a Magnetorheological Clutch

Yadmellat

Kermani

2014

IEEE/ASME Trans. Mechatron.

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In this paper, a new open-loop model for a magnetorheological-based actuator is presented. The model consists of two parts relating the output torque of the actuator to its internal magnetic field, and the internal magnetic field to the applied current. Each part possesses its own hysteretic behavior. The first part uses a novel nonlinear adaptive model that relates the internal magnetic field to the applied current. The second part uses an open-loop Bingham model to relate the output torque to an internal magnetic field. The model facilitates accurate control of the actuator using its input current. It also eliminates the need for force/torque sensors for providing feedback signals. The accuracy of the constructed model is validated through simulations. The model is assessed against a widely accepted hysteresis modeling approach, known as the Preisach model and its advantages are highlighted. Experimental results using the prototyped actuation mechanism further verify the accuracy of the model and demonstrate its effectiveness.Index Terms-Adaptive modeling, hysteresis, magnetorheological fluids (MRFs), smart actuators.

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Section: Introductionmentioning

confidence: 99%

Adaptive modeling of a fully hysteretic Magneto-Rheological clutch

Yadmellat

Kermani

2012

2012 IEEE International Conference on Robotics and Automation

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In this paper, a new open-loop model for a Magneto-Rheological (MR) based actuator is presented. The model consists of two parts relating the output torque of the actuator to its internal magnetic field, and the internal magnetic field to the applied current. Each part possesses its own hysteretic behavior. The first part uses an open-loop BoucWen model to relate the output torque to internal magnetic field. The second part uses a novel nonlinear adaptive observer that relates the internal magnetic field to the applied current. The model facilitates accurate control of the actuator using its input current. It also eliminates the need for force/torque sensors for providing feedback signals. The accuracy of the constructed model is validated through simulations. The overall model as well as each part of it is assessed against a widely accepted hysteresis modeling approach, known as the Preisach model and its advantages are highlighted. The second part of model is also compared to Bingham model which has been broadly employed in modeling of MR fluid dynamic. Bouc-Wen model shows higher accuracy in capturing hysteretic behavior of MR fluid in comparison to non-hysteretic Bingham model. Experimental results using the prototyped actuation mechanism further verify the accuracy of the model and demonstrate its effectiveness.

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

Cited by 11 publications

References 11 publications

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Adaptive Modeling of a Magnetorheological Clutch

Adaptive modeling of a fully hysteretic Magneto-Rheological clutch

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