development of backdrivable servovalve with feedback

Wan Kyun Chung profile

Development of a Hydraulic Shroud Nozzle Manipulator with Robust Force Control in Continuous Casting Process ISIJ INTERNATIONAL 55 1025-1034 (2015) 18 Correlation between polarization sensitive optical coherence tomography and second harmonic generation microscopy in skin BIOMEDICAL OPTICS EXPRESS 6 - (2015)

Progress Towards theDevelopmentof HighlyFunctional

2013-2-13development of a gas-actuated anthropomorphic arm prosthesis with 21 degrees of freedom and nine independent relative to non-backdrivable gearheads which enhances their ability to perform constrained interaction tasks [2] position feedback control An exploded view ofthe valve design is

Nonlinear position and stiffness Backstepping

2018-4-1The recent development of new servovalves and modern robust nonlinear control laws based on sliding mode and Backstepping allowed the development of position or force controller Thus since pneumatic cylinders are inexpensive and have a good power to weight ratio there has been a recent surge of interest for this technology

Evaluations on contribution of backdrivability and

The importance of force measurement and back-drivability in realizing force sensitive actuator is widely acknowledged There are studies on fidelity of torque sensors and backdrivability individually but limited study are made on investigating effect of torque fidelity and backdrivability on force sensitivity of the actuation system In this paper we developed backdrivable electro

Intelligent Robots and Systems

The Development of Re-usable Software Systems for Intelligent Autonomous Robots in Industrial and Space Applications E Freund and J Roflmann 311 TELEROBOTICS AND SPACE ROBOTICS Toward Integrated Operator Interface for Advanced Teleoperation under Time-Delay A K B~jczy P Fiorini W S Kim and P S Schenker 327

US Patent for Force

Provided is a force-controlled hydro-elastic actuator including a hydraulic actuator having a connection to hydraulic fluid and including a mechanical displacement member positioned to be mechanically displaced by fluid flow at the actuator A valve is connected at the hydraulic actuator connection and has a port for input and output of fluid to and from the valve

International Conference

2020-5-14Intrinsically Backdrivable Hydraulic Servovalve for Interactive Robot Control: Author: Sunkyum Yoo Woongyong Lee and Wan Kyun Chung: Source: IEEE International Conference on Robotics and Automation: Page 51-57: Year 2017: File: 3D Underwater Localization using EM Waves Attenuation for UUV Docking: Author:

Nonlinear position and stiffness Backstepping

2018-4-1The recent development of new servovalves and modern robust nonlinear control laws based on sliding mode and Backstepping allowed the development of position or force controller Thus since pneumatic cylinders are inexpensive and have a good power to weight ratio there has been a recent surge of interest for this technology

Development of rotary hydro

2017-5-1This paper describes a development of a rotary Hydro-Elastic Actuator (HEA) both controller and Hardware First we designed a high performance torque servo controller for the HEA which consists of robust internal-loop compensator (RIC)-based hydraulic motion controller and link-side motion feedback

Robotics 2010: Current and future challenges

4 Development of a water hydraulic servovalve 4 1 Specification Small size off the shelf servovalves specially developed for water hydraulic applications are unavailable on the market at the present time The only existing products are adaptations of oil components without long term guarantee on performance and lifetime

Development of Backdrivable Servovalve With

Abstract: This letter proposes a novel backdrivable servovalve to implement a torque-controlled electro-hydraulic actuator The proposed backdrivable servovalve simultaneously contains the characteristics of a flow-control servo valve (=feedback spring) and a pressure-control servovalve (=pressure feedback port)

Wan Kyun Chung profile

Development of a Hydraulic Shroud Nozzle Manipulator with Robust Force Control in Continuous Casting Process ISIJ INTERNATIONAL 55 1025-1034 (2015) 18 Correlation between polarization sensitive optical coherence tomography and second harmonic generation microscopy in skin BIOMEDICAL OPTICS EXPRESS 6 - (2015)

International Conference

2020-5-14Intrinsically Backdrivable Hydraulic Servovalve for Interactive Robot Control: Author: Sunkyum Yoo Woongyong Lee and Wan Kyun Chung: Source: IEEE International Conference on Robotics and Automation: Page 51-57: Year 2017: File: 3D Underwater Localization using EM Waves Attenuation for UUV Docking: Author:

A Robot and Control Algorithm That Can__

2013-9-3Likewise the MGT group has designed a device (the "Haptic Walker") with more DOF that relies on force feedback to accommodate more natural motion of the legs [16] [17] The goal of the present project was to design a robot that could accommodate naturalistic motion of the patient including the pelvis and coexist with human trainers at the legs and the pelvis

[shimon_y _nof]_handbook_of_industrial_robotics pdf

Research and development advances in robot control graphic simulation and off-line programming made sophisticated robots easier to program and simpler to deploy and maintain During the last five years robotics companies have posted gains in new orders of 131% A total of 12 149 robots valued at over $1 1 billion were ordered in 1997 a new

A Robot and Control Algorithm That Can__

2013-9-3Likewise the MGT group has designed a device (the "Haptic Walker") with more DOF that relies on force feedback to accommodate more natural motion of the legs [16] [17] The goal of the present project was to design a robot that could accommodate naturalistic motion of the patient including the pelvis and coexist with human trainers at the legs and the pelvis

Development of backdrivable hydraulic joint

Robots must have similar mechanical impedance characteristics to humans in order to make safe and efficient contact This impedance requirement applies not only to the surface but also to the actuation mechanisms The objective of this research is to develop inherently flexible actuator by realizing backdrivability A class of hydraulic actuation called electro-hydrostatic actuator was applied

Novel Actuation Methods for High Force Haptics

By contrast electromagnetic actuators are widely used for haptics due to their favorable force and impedance behavior but suffer from dramatically inferior force density A hydraulic actuator capable of controlling pressure with low impedance rather than a high impedance servovalve would be a powerful development

2017 IEEE International Conference on Robotics and

Intrinsically backdrivable hydraulic servovalve for interactive robot control Sunkyum Yoo Woongyong Lee Wan Kyun Chung 51-57 A reconfigurable hybrid actuator with rigid and soft components Yaohui Chen Sing Le Qiao Chu Tan Oscar Lau Fang Wan Chaoyang Song 58-63

MTI

The development of fast servo-valves coupled with modern robust nonlinear control laws based on sliding mode and backstepping allowed the development of accurate position or force controllers Toedtheide et al provided a state-of-the-art compliant control for pneumatic cylinders in [ 47 ]

Cesare FANTUZZI

This paper deals with the development process of an industrial application for the manufacturing of artefacts and products In particular a new engineering process tackling the whole machine life-cycle from the user requirements capture the project conceptual development to the final machine delivery and acceptance tests is presented

Figure 4 from Development of backdrivable hydraulic

DOI: 10 1109/ROBOT 2009 5152866 Corpus ID: 2448279 Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots article{Kaminaga2009DevelopmentOB title={Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots} author={Hiroshi Kaminaga and Junya Ono and Yusuke Nakashima and Yoshihiko Nakamura}

2017 IEEE International Conference on Robotics and

Intrinsically backdrivable hydraulic servovalve for interactive robot control Sunkyum Yoo Woongyong Lee Wan Kyun Chung 51-57 A reconfigurable hybrid actuator with rigid and soft components Yaohui Chen Sing Le Qiao Chu Tan Oscar Lau Fang Wan Chaoyang Song 58-63

Development of Backdrivable Servovalve With

2020-5-12The proposed backdrivable servovalve simultaneously contains the characteristics of a flow-control servo valve (=feedback spring) and a pressure-control servovalve (=pressure feedback port) Consequently the torque control performance of electro-hydraulic torque actuators (EHTAs) which consist of the backdrivable servovalve and rotary vane-type hydraulic actuators can be enhanced

Progress Towards theDevelopmentof HighlyFunctional

2013-2-13development of a gas-actuated anthropomorphic arm prosthesis with 21 degrees of freedom and nine independent relative to non-backdrivable gearheads which enhances their ability to perform constrained interaction tasks [2] position feedback control An exploded view ofthe valve design is