Abstract
Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magneto-rheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.
| Original language | English |
|---|---|
| Title of host publication | SII 2016 - 2016 IEEE/SICE International Symposium on System Integration |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 254-259 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509033294 |
| DOIs | |
| Publication status | Published - 2017 Feb 6 |
| Event | 2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan Duration: 2016 Dec 13 → 2016 Dec 15 |
Other
| Other | 2016 IEEE/SICE International Symposium on System Integration, SII 2016 |
|---|---|
| Country | Japan |
| City | Sapporo |
| Period | 16/12/13 → 16/12/15 |
Fingerprint
ASJC Scopus subject areas
- Biomedical Engineering
- Control and Systems Engineering
- Mechanical Engineering
- Artificial Intelligence
- Hardware and Architecture
- Control and Optimization
Cite this
Performance evaluation of a compliant magnetorheological piston actuator. / Dominuez, Gonzalo Aguirre; Kamezaki, Mitsuhiro; Shan, He; Sugano, Shigeki.
SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. p. 254-259 7844007.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Performance evaluation of a compliant magnetorheological piston actuator
AU - Dominuez, Gonzalo Aguirre
AU - Kamezaki, Mitsuhiro
AU - Shan, He
AU - Sugano, Shigeki
PY - 2017/2/6
Y1 - 2017/2/6
N2 - Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magneto-rheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.
AB - Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magneto-rheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.
UR - http://www.scopus.com/inward/record.url?scp=85015422460&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015422460&partnerID=8YFLogxK
U2 - 10.1109/SII.2016.7844007
DO - 10.1109/SII.2016.7844007
M3 - Conference contribution
AN - SCOPUS:85015422460
SP - 254
EP - 259
BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
ER -