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TECHNICAL PAPERS

Torque Control of Electrorheological Fluidic Resistive Actuators for Haptic Vehicular Instrument Controls

[+] Author and Article Information
M. A. Vitrani

 Laboratoire de Robotique de Paris (LRP), 18, Route du Panorama-BP 61, 92265 Fontenay-aux-Roses Cedex, France

J. Nikitczuk, B. Weinberg

Department of Mechanical and Industrial Engineering, Northeastern University, 375 Snell Engineering Center, 360 Huntington Avenue, Boston, MA 02115

G. Morel

 Laboratoire de Robotique de Paris (LRP), 18, Route du Panorama-BP 61, 92265 Fontenay-aux-Roses Cedex, Francemorel@robot.jussieu.fr

C. Mavroidis1

Department of Mechanical and Industrial Engineering, Northeastern University, 375 Snell Engineering Center, 360 Huntington Avenue, Boston, MA 02115mavro@coe.neu.edu

1

To whom correspond address should be addressed.

J. Dyn. Sys., Meas., Control 128(2), 216-226 (Jun 09, 2005) (11 pages) doi:10.1115/1.2192822 History: Received January 25, 2004; Revised June 09, 2005

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.

Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Artist’s view of a multi-function haptic knob for vehicular instrument control

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Figure 2

Components and assembly steps for the flat plate resistive actuator

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Figure 3

Assembled multiple flat-plate ERF resistive actuator: CAD drawing (left) and experimental prototype (right)

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Figure 4

FP resistive actuator model geometric parameters

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Figure 5

Experimental setup of a haptic knob

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Figure 6

Reactive torque response for different velocities

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Figure 7

FP resistive actuator resistive torque as a function of input voltage and rotational speed

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Figure 8

Experimental verification of the inverse model

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Figure 9

Linear PI controller

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Figure 10

Closed loop step response using a linear PI controller

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Figure 11

Non-linear PI controller with feed-forward term

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Figure 12

Closed loop step response using a non-linear PI controller

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Figure 13

Realizing a spring function with a fully actuated device

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Figure 14

The haptic function of a “click”

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Figure 15

Haptic sensation: Passing through a “click”

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Figure 16

Haptic sensation: Pushing, then pulling

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