Development and Control of an MR Brake-Based Passive Force Feedback Data Glove
This paper presents the development and feedback force control of a safe, lightweight, yet powerful, and stable passive force feedback data glove (FFDG), utilizing a disc-type magnetorheological (MR) brake as the force feedback device. Firstly, a detailed illustration of the mechanical design of the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8918345/ |
| _version_ | 1818737311732465664 |
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| author | Daoming Wang Yakun Wang Jiawei Pang Zhengyu Wang Bin Zi |
| author_facet | Daoming Wang Yakun Wang Jiawei Pang Zhengyu Wang Bin Zi |
| author_sort | Daoming Wang |
| collection | DOAJ |
| description | This paper presents the development and feedback force control of a safe, lightweight, yet powerful, and stable passive force feedback data glove (FFDG), utilizing a disc-type magnetorheological (MR) brake as the force feedback device. Firstly, a detailed illustration of the mechanical design of the FFDG, including transmission structure, MR brake, and angle measuring mechanism, is presented. Then, to achieve a precise feedback force control, the design and modelling of a current controller based on the buck circuit are carried out. This is followed by the tracking control of the feedback force, using conventional PID and adaptive fuzzy-PID control schemes. The control effect of the two methods is evaluated and compared through simulations. Finally, an experimental set-up is established, and a series of experiments are carried out on both the manufactured MR brake and the FFDG prototype. The results verify the feasibility and stability of the developed FFDG, and demonstrate that the feedback force tracking accuracy of the adaptive fuzzy-PID controller is satisfactory. |
| first_indexed | 2024-12-18T00:51:02Z |
| format | Article |
| id | doaj.art-6e9480275cde47059078f6d67a3fea62 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-18T00:51:02Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6e9480275cde47059078f6d67a3fea622022-12-21T21:26:40ZengIEEEIEEE Access2169-35362019-01-01717247717248810.1109/ACCESS.2019.29569548918345Development and Control of an MR Brake-Based Passive Force Feedback Data GloveDaoming Wang0https://orcid.org/0000-0002-3535-8470Yakun Wang1https://orcid.org/0000-0001-8785-1075Jiawei Pang2https://orcid.org/0000-0002-8925-5573Zhengyu Wang3https://orcid.org/0000-0003-0681-2299Bin Zi4https://orcid.org/0000-0002-2425-1141School of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaThis paper presents the development and feedback force control of a safe, lightweight, yet powerful, and stable passive force feedback data glove (FFDG), utilizing a disc-type magnetorheological (MR) brake as the force feedback device. Firstly, a detailed illustration of the mechanical design of the FFDG, including transmission structure, MR brake, and angle measuring mechanism, is presented. Then, to achieve a precise feedback force control, the design and modelling of a current controller based on the buck circuit are carried out. This is followed by the tracking control of the feedback force, using conventional PID and adaptive fuzzy-PID control schemes. The control effect of the two methods is evaluated and compared through simulations. Finally, an experimental set-up is established, and a series of experiments are carried out on both the manufactured MR brake and the FFDG prototype. The results verify the feasibility and stability of the developed FFDG, and demonstrate that the feedback force tracking accuracy of the adaptive fuzzy-PID controller is satisfactory.https://ieeexplore.ieee.org/document/8918345/Force feedback data glovemagnetorheological brakeforce feedbackcurrent controlleradaptive fuzzy-PID control |
| spellingShingle | Daoming Wang Yakun Wang Jiawei Pang Zhengyu Wang Bin Zi Development and Control of an MR Brake-Based Passive Force Feedback Data Glove IEEE Access Force feedback data glove magnetorheological brake force feedback current controller adaptive fuzzy-PID control |
| title | Development and Control of an MR Brake-Based Passive Force Feedback Data Glove |
| title_full | Development and Control of an MR Brake-Based Passive Force Feedback Data Glove |
| title_fullStr | Development and Control of an MR Brake-Based Passive Force Feedback Data Glove |
| title_full_unstemmed | Development and Control of an MR Brake-Based Passive Force Feedback Data Glove |
| title_short | Development and Control of an MR Brake-Based Passive Force Feedback Data Glove |
| title_sort | development and control of an mr brake based passive force feedback data glove |
| topic | Force feedback data glove magnetorheological brake force feedback current controller adaptive fuzzy-PID control |
| url | https://ieeexplore.ieee.org/document/8918345/ |
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