Frequency response analysis of MR-fluid actuator based on disturbance observer

Kazumasa Miura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Magnethoreological-fluid (MR-fluid) actuators are consider as as suitable instruments in rehabilitation trainings so that they are passive actuators. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risk for humans when they are loss of control. In past, the author has proposed robust velocity constraint control, in which nonlinear term of MR fluids are compensated. This research uses the control system and measures frequency responses. In the constructed system, bandwidth of velocity constraint control can be investigated, and quantitative performance evaluation of rehabilitation trainings using MR-fluid actuators is expected in the future.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages786-791
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: 2012 Dec 162012 Dec 18

Publication series

Name2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/12/1612/12/18

ASJC Scopus subject areas

  • Information Systems

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  • Cite this

    Miura, K., & Katsura, S. (2012). Frequency response analysis of MR-fluid actuator based on disturbance observer. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012 (pp. 786-791). [6426945] (2012 IEEE/SICE International Symposium on System Integration, SII 2012). https://doi.org/10.1109/SII.2012.6426945