Linear Serial Elastic Hydraulic Actuator: Digital Prototyping and Force Control

Force Controllable Hydro-Elastic Actuator

We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to get an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator. The spring allows for high force fidelity, good force control, minimum impedance, and large dynamic ran...

Hydraulic Linear Actuator Velocity Control Using a Feedforward-plus-pid Control

A practical approach to design a feedforward-plus-proportional-integral-derivative (FPID) controller for accurate and smooth velocity control on a hydraulic linear actuator is presented. The integrated controller consists of a feedforward loop and a PID loop. The feedforward loop is designed to compensate for the nonlinearity of the electrohydraulic system, including the deadband of the system ...

Sliding Mode Controller for Robust Force Control o Hydraulic Actuator with Environmental Uncertainties

In this paper, a reduced order linear model is selected to describe the hydraulic servo-actuator with large environmental uncertainties. The exploitation in simulation of the perturbed 5 order linear model is enough for the first approach, that is to say, before experimentation to value the studied law control potential. Because its robust character and superior performance in environmental unc...

3D Force Control System Design for A Hydraulic Parallel Bellows Continuum Actuator

Control Issues of Digital Clay – Massive Hydraulic Actuator Array for Man-machine Communication

Digital Clay is an NSF funded project for human machine communication through a tangible haptic surface actuated using fluid power. Digital Clay’s hardware can be divided into three subsystems: massive-integrated actuator-sensor array, fluidic driving system, and control system. Focus of this paper is the control of some of the special mechanisms of Digital Clay. Specifically, the Fluid Matrix ...