Torque sensor-less tactile control of electrorheological passive actuators

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

3 Citations (Scopus)

Abstract

Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages331-336
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Torque
Actuator
Actuators
Torque control
Disturbance Observer
Sensor
Sensors
Electrorheological fluids
Functional materials
Clutches
Angular velocity
Robust control
Sensorless Control
Electrorheological Fluid
Brakes
Elastomers
Control systems
Voltage
Control System
Electric potential

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tanaka, H., Kakinuma, Y., Katsura, S., & Aoyama, T. (2010). Torque sensor-less tactile control of electrorheological passive actuators. In International Workshop on Advanced Motion Control, AMC (pp. 331-336). [5464109] https://doi.org/10.1109/AMC.2010.5464109

Torque sensor-less tactile control of electrorheological passive actuators. / Tanaka, Hidetaka; Kakinuma, Yasuhiro; Katsura, Seiichiro; Aoyama, Tojiro.

International Workshop on Advanced Motion Control, AMC. 2010. p. 331-336 5464109.

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

Tanaka, H, Kakinuma, Y, Katsura, S & Aoyama, T 2010, Torque sensor-less tactile control of electrorheological passive actuators. in International Workshop on Advanced Motion Control, AMC., 5464109, pp. 331-336, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464109
Tanaka, Hidetaka ; Kakinuma, Yasuhiro ; Katsura, Seiichiro ; Aoyama, Tojiro. / Torque sensor-less tactile control of electrorheological passive actuators. International Workshop on Advanced Motion Control, AMC. 2010. pp. 331-336
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