Abstract
Pneumatic systems are well known for their advantages and simplicity, and have been applied in various applications. This paper presents the development and experimental evaluation of an intelligent pneumatic cylinder and its control system. The cylinder is designed to have an optical encoder, pressure sensor, valve and a Programmable System on a Chip (PSoC) as the central processing unit. The PSoC will handle I2C communication, input and output data from the analogue to digital converter, counter program and pulse width modulation (PWM) duty cycle. An application tool for a distributed physical human-machine interaction is proposed using an intelligent pneumatic cylinder. The system applied 36 links of the actuator to form an Intelligent Chair Tool (ICT). The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system driven by PWM to an on/off valve. In this research, four control approaches, i.e., position control, force control, compliance control and viscosity control, were constructed and experimented. The physical properties of various objects were also detected by the intelligent cylinder through the detecting function experiment. Finally, an emulation experiment using mass was carried out and the results clearly show the ability of the intelligent cylinder, and the control approaches towards realization of the future ICT application.
| Original language | English |
|---|---|
| Pages (from-to) | 203-225 |
| Number of pages | 23 |
| Journal | Advanced Robotics |
| Volume | 23 |
| Issue number | 1-2 |
| DOIs | |
| Publication status | Published - Jan 1 2009 |
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Keywords
- Human adaptive mechanism
- Intelligent actuator
- Intelligent pneumatic cylinder
- Physical human-machine interaction
- Pneumatic cylinder
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
Development of an intelligent pneumatic cylinder for distributed physical human-machine interaction. / Faudzi, Ahmad Athif Mohd; Suzumori, Koichi; Wakimoto, Shuichi.
In: Advanced Robotics, Vol. 23, No. 1-2, 01.01.2009, p. 203-225.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Development of an intelligent pneumatic cylinder for distributed physical human-machine interaction
AU - Faudzi, Ahmad Athif Mohd
AU - Suzumori, Koichi
AU - Wakimoto, Shuichi
PY - 2009/1/1
Y1 - 2009/1/1
N2 - Pneumatic systems are well known for their advantages and simplicity, and have been applied in various applications. This paper presents the development and experimental evaluation of an intelligent pneumatic cylinder and its control system. The cylinder is designed to have an optical encoder, pressure sensor, valve and a Programmable System on a Chip (PSoC) as the central processing unit. The PSoC will handle I2C communication, input and output data from the analogue to digital converter, counter program and pulse width modulation (PWM) duty cycle. An application tool for a distributed physical human-machine interaction is proposed using an intelligent pneumatic cylinder. The system applied 36 links of the actuator to form an Intelligent Chair Tool (ICT). The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system driven by PWM to an on/off valve. In this research, four control approaches, i.e., position control, force control, compliance control and viscosity control, were constructed and experimented. The physical properties of various objects were also detected by the intelligent cylinder through the detecting function experiment. Finally, an emulation experiment using mass was carried out and the results clearly show the ability of the intelligent cylinder, and the control approaches towards realization of the future ICT application.
AB - Pneumatic systems are well known for their advantages and simplicity, and have been applied in various applications. This paper presents the development and experimental evaluation of an intelligent pneumatic cylinder and its control system. The cylinder is designed to have an optical encoder, pressure sensor, valve and a Programmable System on a Chip (PSoC) as the central processing unit. The PSoC will handle I2C communication, input and output data from the analogue to digital converter, counter program and pulse width modulation (PWM) duty cycle. An application tool for a distributed physical human-machine interaction is proposed using an intelligent pneumatic cylinder. The system applied 36 links of the actuator to form an Intelligent Chair Tool (ICT). The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system driven by PWM to an on/off valve. In this research, four control approaches, i.e., position control, force control, compliance control and viscosity control, were constructed and experimented. The physical properties of various objects were also detected by the intelligent cylinder through the detecting function experiment. Finally, an emulation experiment using mass was carried out and the results clearly show the ability of the intelligent cylinder, and the control approaches towards realization of the future ICT application.
KW - Human adaptive mechanism
KW - Intelligent actuator
KW - Intelligent pneumatic cylinder
KW - Physical human-machine interaction
KW - Pneumatic cylinder
UR - http://www.scopus.com/inward/record.url?scp=60149085567&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=60149085567&partnerID=8YFLogxK
U2 - 10.1163/156855308X392744
DO - 10.1163/156855308X392744
M3 - Article
AN - SCOPUS:60149085567
VL - 23
SP - 203
EP - 225
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 1-2
ER -