Abstract Actuators are the most important elements of any haptic device. Their selection or design significantly influences quality impression. This chapter deals with commonly used actuators, organized according to their physical principle operation. It focuses on electrodynamic, electromagnetic, electrostatic and piezoelectric actuator principles. Each type is discussed in terms its main prin...

The problem of attitude stabilization of a fighter aircraft is investigated in this paper. The practical aspects of a real physical system like existence of external disturbance with unknown upper bound and actuator saturation are considered in the process of controller design of this aircraft. In order to design a robust autopilot in the presence of the actuator saturation, the Composite Nonli...

background : along with emersion of the internet, virtual education increasingly has been growing. many studies discussed this method and its impact on learning. present study investigated students’ attitude towards virtual education as well as its effect on learning. methods : this was a pretest-posttest quasi-experimental study. the nursing students, who had selected fluids and electrolyte di...

In this paper, the thermal buckling analysis of a circular plate made of FGM materials with actuator/actuator piezoelectric layers based on neutral plane, classical plate theory and first order shear deformation plate theory is investigated. Reddy's model is assumed for material properties of FGM plate. Plate under the thermal loading, nonlinear temperature rise through the thickness and clampe...

This paper proposes a design of SMA-based bionic suction cup actuator, the core of which is that the bias spring cooperates with the SMA spring to produce a displacement at the varying temperature caused by the drive current. To characterize the dynamic drive performance of the actuator, the thermody‐ namic model is established by the constitutive model of SMA material of Tanaka series. The sim...

This paper is concerned with the use of H2-control performance metrics in finding optimal actuator locations for a class of infinite-dimensional systems. Conditions that guarantee convergence of the optimal actuator location for the finitedimensional representation of the infinite-dimensional system to the optimal actuator location of the original infinite-dimensional system are provided. Minim...

In this work, the problem of a curved functionally graded piezoelectric (FGP) actuator with sandwich structure under electrical and thermal loads is investigated. The middle layer in the sandwich structure is functionally graded with the piezoelectric coefficient g31 varying continuously along the radial direction of the curved actuator. Based on the theory of linear piezoelectricity, analytica...

This study evaluates a technique for the closed-loop position and velocity control of a wire scanner actuator. The focus of this technique is to drive a stepper motordriven actuator through a 1-mm move using a combination of velocity feedback control and position feedback control. More specifically, the velocity feedback control will be utilized to provide a smooth motion as the controller driv...

One of the research goals in robotics is the development of home-help robots. The development of a control approach for a novel lightweight and multifunctional shape memory alloy (SMA) actuator scalable in force and length for robots is presented in this paper. The SMA actuator is based on lightweight bundles of thin wires of prestrainend shape memory alloy that change their length when heated ...

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...