NDLI: Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Content Provider	IEEE Xplore Digital Library
Author	Baser, O. Konukseven, E.I. Gurocak, H.
Copyright Year	2012
Description	Author affiliation: Mechanical Engineering Department, Middle East Technical University, Universiteler Mah. Dumlupinar Blv. No:1, 06800 Çankaya Ankara/TURKEY (Konukseven, E.I.) \|\| School of Engineering and Computer Science, Washington State University Vancouver, 98686, USA (Gurocak, H.) \|\| Robotics and Automation Laboratory at Washington State University, Vancouver, USA (Baser, O.)
Abstract	An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone.
Starting Page	12
Ending Page	18
File Size	1240236
Page Count	7
File Format	PDF
ISBN	9781467346047
ISSN	19449445
e-ISBN	9781467346061
e-ISBN	9781467346054
DOI	10.1109/ROMAN.2012.6343724
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-09
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Torque Haptic interfaces Impedance Stability analysis Artificial neural networks Friction
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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