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 publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages331-336
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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    Tanaka, H., Kakinuma, Y., Katsura, S., & Aoyama, T. (2010). Torque sensor-less tactile control of electrorheological passive actuators. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 331-336). [5464109] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464109