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Recently many new actuators have been developed in order to overcome the limitations of conventional actuators. The pneumatic artificial muscle actuator (PMA) is one of the typical examples. Although many studies have been conducted on the single PMA, there are still many limitations of the single PMA operation. The typical problems are low efficiency and limited force output. In order to overcome...
In the physical human-robot interaction system, improving transparency performance which allows humans to move as if there is no robot is a challenging topic. In general physical human-robot interaction, the multiaxial force sensor is used to control the robot. However the signal measured from the force sensor involves not only the force applied to the robot by the human motion intention but also...
In this paper, A simple method for estimating the impedance of a human hand is proposed. In a physical human-robot interaction situation, safety is a very important issue because humans are in contact with robots. Since robots become unstable when they contact a stiff external environment or when there is a difference between human motion intention and robot motion, knowing the dynamics of a human...
Many researchers have been studying a walking robot that can walk in an Unknown environment. But there is a problem. When the leg is landing, the motor or torque sensor is damaged by the amount of impact generated from the uncleaned ground. In order to solve this problem, many researchers have tried to reduce the amount of impulse by placing a passive compliance element in a motor-pack. The efforts...
In this paper, we propose lumped methods of flexible elements of Flexible-Link manipulator to Flexible-Joint, and compare their performance evaluation to suggest the most suitable modeling method. The first method is to obtain the Equivalent Stiffness through the static analysis of Flexible-Link. The second method is to obtain the natural frequency through the modal analysis of the Flexible-Link System...
A pneumatic artificial muscle(PAM) have been studied in several fields due to its flexible property. However, it has some troubles in tracking performance and control of a PAM because of the inherent flexibility in material and air. In this study, applicability of Iterative Control(IC) algorithm to a PAM was investigated so as to achieve improvement of tracking performance despite of large non-linearity...
In this paper, in order to be applied to the biological replication system to replicate the movement of the human muscle, the bundle PAM to replicate the muscle in multiple have been developed instead the simple single PAM. So, in order to increase the force and displacement efficiency in the paper, it is solved theoretically for the interference effect under limited conditions, and the Patterning...
In this paper, system identification algorithm of an electro-hydraulic system for feedforward position control method is proposed. Feedforward controller using inverse model of feedback system generates filtered signals that compensate the magnitude and phase. In this manner, the feedback system has been properly identified. We estimated the system as linear discrete time transfer function by recursive...
Iterative Control is used to obtain high tracking performance on vibration testing equipments. It is important to find proper frequency response function for Iterative Control because it has information of real system. Signal processing to make proper frequency response function for Iterative Control has been investigated. Electro-hydraulic actuated system was considered as theoretical model. Main...
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