Distributed physical human machine interaction using intelligent pneumatic cylinders

Ahmad Athif Mohd Faudzi, Koichi Suzumori, Shuichi Wakimoto

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

14 Citations (Scopus)

Abstract

The increasing use of mechanical devices using compressed air demands for better control approach and faster responds. In this paper, the development and experimental evaluation of an intelligent pneumatic cylinder for distributed physical human machine interaction is proposed. The system applied 36 links of the intelligent pneumatic cylinders to form an Intelligent Chair Tool (ICT) application where each cylinder consists of optical encoder, pressure sensor, valves and a programmable system on chip (PSoC) microcomputer. The cylinder is unique from each other therefore distributed model is essentially implemented. Four extensive control approaches are proposed and experimentally evaluated namely position servo control, force control, compliance control and viscosity control. The control methodology presented contains an inner force loop and an outer position loop implemented using unified control system driven by PWM to an on/off valve. PI controller is used in the force loop to nullify the nonlinearity arising from the compressibility of air. An emulation experiment using mass was also carried out and the results clearly show the ability of the control approaches to verify the future ICT application.

Original languageEnglish
Title of host publication2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics"
Pages249-254
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Event2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell Engineering by Multi-scale Manipulation" - Nagoya, Japan
Duration: Nov 6 2008Nov 9 2008

Publication series

Name2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008

Other

Other2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell Engineering by Multi-scale Manipulation"
CountryJapan
CityNagoya
Period11/6/0811/9/08

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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    Faudzi, A. A. M., Suzumori, K., & Wakimoto, S. (2008). Distributed physical human machine interaction using intelligent pneumatic cylinders. In 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics" (pp. 249-254). [4752458] (2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008). https://doi.org/10.1109/MHS.2008.4752458