Development of an intelligent pneumatic cylinder for distributed physical human-machine interaction

Ahmad Athif Mohd Faudzi, Koichi Suzumori, Shuichi Wakimoto

Research output: Contribution to journalArticle

20 Citations (Scopus)

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 languageEnglish
Pages (from-to)203-225
Number of pages23
JournalAdvanced Robotics
Volume23
Issue number1-2
DOIs
Publication statusPublished - Jan 1 2009

Fingerprint

Pneumatics
Pulse width modulation
Compliance control
Control systems
Force control
Position control
Pressure sensors
Digital to analog conversion
Program processors
Actuators
Physical properties
Experiments
Viscosity
Communication

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 journalArticle

Faudzi, Ahmad Athif Mohd ; Suzumori, Koichi ; Wakimoto, Shuichi. / Development of an intelligent pneumatic cylinder for distributed physical human-machine interaction. In: Advanced Robotics. 2009 ; Vol. 23, No. 1-2. pp. 203-225.
@article{697268a8591d45b5927b289927daf819,
title = "Development of an intelligent pneumatic cylinder for distributed physical human-machine interaction",
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.",
keywords = "Human adaptive mechanism, Intelligent actuator, Intelligent pneumatic cylinder, Physical human-machine interaction, Pneumatic cylinder",
author = "Faudzi, {Ahmad Athif Mohd} and Koichi Suzumori and Shuichi Wakimoto",
year = "2009",
month = "1",
day = "1",
doi = "10.1163/156855308X392744",
language = "English",
volume = "23",
pages = "203--225",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "1-2",

}

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 -