Universiti Teknologi Malaysia Institutional Repository

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

Mohd. Faudzi, Ahmad 'Athif and Suzumori, Koichi and Wakimoto, Shuichi (2009) Development of an intelligent pneumatic cylinder for distributed physical human–machine interaction. Advanced Robotics, 23 (1). pp. 203-225. ISSN 01691864

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Official URL: http://dx.doi.org/10.1163/156855308X392744

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.

Item Type:Article
Uncontrolled Keywords:human adaptive mechanism, intelligent actuator, intelligent pneumatic cylinder, physical human-machine interaction, pneumatic cylinder
Subjects:Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:13353
Deposited By: Ms Zalinda Shuratman
Deposited On:05 Aug 2011 03:05
Last Modified:05 Aug 2011 03:05

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