Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

The traditional traffic light control system which applies timer control cannot adjust the light time period effectively when the vehicle flow changes. Based on the Cooperative Vehicle Infrastructure System (CVIS), this paper puts forward a scheme that traffic light can be changed adaptively according to the vehicle flow. It realizes the interactive communication among moving vehicles, roadside equipments and control center. As a result, the traffic light time period is regulated by the real-time feedback data.

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Note: Hybrid active/passive force feedback actuator using hydrostatic transmission

Review of Scientific Instruments ◽

10.1063/1.4986845 ◽

2017 ◽

Vol 88 (12) ◽

pp. 126103

Author(s):

Yea-Seok Park ◽

Juwon Lee ◽

Kyung-Soo Kim ◽

Soohyun Kim

Keyword(s):

Force Feedback ◽

Passive Force ◽

Hydrostatic Transmission

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Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

Applied Sciences ◽

10.3390/app10228031 ◽

2020 ◽

Vol 10 (22) ◽

pp. 8031

Author(s):

Long Qin ◽

Fanghao Huang ◽

Zheng Chen ◽

Wei Song ◽

Shiqiang Zhu

Keyword(s):

Force Feedback ◽

Inverse Kinematic ◽

Real Time Control ◽

Kinematics Model ◽

Time Control ◽

Virtual Force ◽

Control Scheme ◽

Continuum Manipulators ◽

Transmission Structure ◽

And Control

Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.

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An object-oriented architecture for sensorless cutting force feedback for CNC milling process monitoring and control

Advances in Engineering Software ◽

10.1016/j.advengsoft.2009.12.016 ◽

2010 ◽

Vol 41 (5) ◽

pp. 754-761 ◽

Cited By ~ 4

Author(s):

Roberto Augusto Gómez Loenzo ◽

Pedro Daniel Alaniz Lumbreras ◽

René de Jesús Romero Troncoso ◽

Gilberto Herrera Ruiz

Keyword(s):

Cutting Force ◽

Process Monitoring ◽

Force Feedback ◽

Object Oriented ◽

Milling Process ◽

Cnc Milling ◽

Monitoring And Control ◽

Process Monitoring And Control ◽

And Control

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The Development of an Experimental Force Feedback Dynamometer to Investigate the Real Time Control of an Oscillating Wave Surge Converter

Volume 8: Ocean Renewable Energy ◽

10.1115/omae2013-10766 ◽

2013 ◽

Cited By ~ 1

Author(s):

Daniel Banks ◽

Jos van ’t Hoff ◽

Kenneth Doherty

Keyword(s):

Force Feedback ◽

Position Control ◽

Experimental Testing ◽

Control Strategies ◽

Small Scale ◽

Real Time Control ◽

Time Control ◽

Scale Models ◽

Damping Torque ◽

And Control

An Oscillating Wave Surge Converter (OWSC) is a Wave Energy Converter (WEC) that consists of a bottom-hinged flap which oscillates due to wave action. Extensive research has been performed on this type of WEC through small scale experimental wave tank tests. One of the key challenges of experimental testing is replicating the characteristics of the Power Take-Off (PTO) system of the equivalent full scale WEC. Many scale models rely on simplified mechanical designs to simulate a PTO system. This can often restrict the experimental research into the influence of PTO design and control strategies of WECs. In order to model PTO systems and control strategies more accurately other tools are needed. This paper describes the design and build of a PLC controlled Force Feedback Dynamometer (FFD) system that enables the testing of more sophisticated control strategies applicable to an OWSC through fast application of a variable PTO damping torque. A PLC system is shown to be a viable control for PTO strategy investigations through velocity triggered damping levels. Examples of both PTO and position control strategies are presented.

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An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

Journal of Mechanical Design ◽

10.1115/1.4027759 ◽

2014 ◽

Vol 136 (9) ◽

Cited By ~ 10

Author(s):

Lei Cui ◽

Ugo Cupcic ◽

Jian S. Dai

Keyword(s):

Input Device ◽

Human Hand ◽

Optimization Approach ◽

Robotic Hand ◽

Kinematic Structure ◽

Robotic Hands ◽

Data Glove ◽

Minimax Algorithms ◽

Kinematic Mapping ◽

And Control

The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.

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