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 language | English |
|---|---|
| Title of host publication | 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008 |
| Pages | 249-254 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 2008 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 2008 → Nov 9 2008 |
Other
| Other | 2008 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" |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 11/6/08 → 11/9/08 |
Fingerprint
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Electrical and Electronic Engineering
Cite this
Distributed physical human machine interaction using intelligent pneumatic cylinders. / Faudzi, Ahmad Athif Mohd; Suzumori, Koichi; Wakimoto, Shuichi.
2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008. 2008. p. 249-254 4752458.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Distributed physical human machine interaction using intelligent pneumatic cylinders
AU - Faudzi, Ahmad Athif Mohd
AU - Suzumori, Koichi
AU - Wakimoto, Shuichi
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62449107508&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62449107508&partnerID=8YFLogxK
U2 - 10.1109/MHS.2008.4752458
DO - 10.1109/MHS.2008.4752458
M3 - Conference contribution
AN - SCOPUS:62449107508
SN - 9781424429196
SP - 249
EP - 254
BT - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008
ER -