Variable impedance control with an artificial muscle manipulator using instantaneous force and MR brake

Tomori, Hiroki; Nagai, Shoichiro; Majima, Tatsuo; Nakamura, Taro

doi:10.1109/iros.2013.6697137

Cited by 13 publications

(5 citation statements)

References 12 publications

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“…This arrangement can be applied to rendering instantaneous force. A method for generating instantaneous force is based on a MR method [11], which is a combination of a MR brake and pneumatic artificial muscle. This method can be applied to this haptic device because both MR and ER brake display fast response times.…”

Section: Control Methodsmentioning

confidence: 99%

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Egawa

Watanabe

Nakamura

2015

Intelligent Robotics and Applications

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Abstract. Recently, the use of haptic technology has been expected in various fields, such as medicine and entertainment. In general, haptic devices are actuated by DC motors. However, DC motors have active rendering and can cause serious accidents when the system runs out of control. On the other hand, systems that employ a brake are stable and intrinsically safe. However, such systems have several haptic rendering limitations. Therefore, we have developed a semi-active-type haptic device using variable viscoelastic elements: an electrorheological (ER) devices and pneumatic artificial muscles. In this paper, we proposed control modes according to the haptic application, and we demonstrate several haptic experiments. Finally, we confirm that the novel semi-active system achieves haptic rendering of friction, viscous friction, virtual wall, and stiffness.

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Section: Control Methodsmentioning

confidence: 99%

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Egawa

Watanabe

Nakamura

2015

Intelligent Robotics and Applications

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“…Moreover, it is known that the locomotion of humans consists of miscellaneous motion phases, e.g., a single-support phase, double-support phase, and jumping. Therefore, humans should modify muscle stiffness to attenuate any heterogeneous disturbances or even to track desired interaction forces [ 77 ].…”

Section: Variable Impedance Controlmentioning

confidence: 99%

Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Al-Shuka

Leonhardt

Zhu

et al. 2018

Applied Bionics and Biomechanics

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There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot's end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstable contact. Humans, however, have exceptionally effective control systems with advanced biological actuators. An individual can manipulate muscle stiffness to comply with the interaction forces. Accordingly, the parameters of the impedance filter should be time varying rather than value constant in order to match human behavior during interaction tasks. Therefore, this paper presents an overview of impedance control strategies including standard and extended control schemes. Standard controllers cover impedance and admittance architectures. Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints. The categories of impedance control and their features and limitations are well introduced. Attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.

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“…Nagai et al (2011) investigated an MR brake with an adjustable viscosity coefficient to improve the position and vibration control performance of an artificial muscle manipulator. Tomori et al (2013) developed a one-degree-of-freedom manipulator using an artificial muscle and an MR brake to control the vibration and overshoot of the manipulator. Sapin´ski et al (2018) reported a magnetorheological damper-based positioning system.…”

Section: Introductionmentioning

confidence: 99%

Innovative variable stiffness and variable damping magnetorheological actuation system for robotic arm positioning

Deng

Sun

Christie

et al. 2022

Journal of Intelligent Material Systems and Structures

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Overshoot and long settling time are two common problems of the positioning control for robotic arms. To solve the positioning control problems, an innovative variable stiffness and variable damping (VSVD) magnetorheological (MR) actuation system for robotic arms was designed, prototyped and evaluated in this paper. The system can reduce the overshoot and settling time of the robotic arm with less energy consumption by controlling the stiffness and damping of its VSVD unit. A robotic arm with the VSVD actuation system was developed and prototyped. In order to evaluate the performance of the system, a step route and a customised route were designed for the robotic arm system to trace. Under these two routes, the positioning control performances of the VSVD robotic arm were evaluated numerically and experimentally with the control modes of uncontrolled, VD, VS and VSVD, respectively. Both the numerical and experimental results demonstrated that the VSVD control mode works best in general with less overshoot, settling time and energy consumption, indicating that the proposed VSVD actuation system can serve as a good candidate to solve the positioning control problems of robotic arms.

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Variable impedance control with an artificial muscle manipulator using instantaneous force and MR brake

Cited by 13 publications

References 12 publications

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Innovative variable stiffness and variable damping magnetorheological actuation system for robotic arm positioning

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