Manipulating a cup by the handle requires compensating for the torque induced by the moment of the mass of the cup relative to the location of the handle. In the present study, we investigated the control strategy of subjects asked to perform grip-lift movements with an object with center of mass located away from the grip axis. Participants were asked to lift the manipulandum with a two-finger...

This paper deals with the direct torque control (DTC) of the induction motor. This type of control allows decoupling control between the flux and the torque without the need for a transformation of coordinates. However, as with other hysteresisbased systems, the classical DTC scheme represents a high ripple, in both the electromagnetic torque and the stator flux and a distortion in the stator c...

Direct torque control (DTC) of Switched reluctance motor is known to have simple control structure with comparable performance to that of field oriented control techniques. However, the role of optimal selection of the voltage space vector is one of the weakest points in a conventional DTC drive. In this paper optimal selection of voltage space vectors is achieved using neuro fuzzy controller. ...

This paper reports on advances in the design and development of a high-performance direct-drive joint for robotics and automation. The joint integrates a motor, a torque sensor and joint bearings. The key design aspects of the motor, such as the armature, motor housing, bearing arrangement and sensors, are detailed. The description of a dynamometer testbed with a hydraulic active load used for ...

A switched Reluctance motor (SRM) has several desirable features, including simple construction, high reliability and low cost. However, it suffers from large torque ripple, highly non-uniform torque output and magnetization characteristics and large noise. Several studies have succeeded in torque ripple reduction for SRM using Direct Torque Control (DTC) technique. DTC method has many advantag...

Induction machine drive based on Direct Torque Control (DTC) allows high dynamic performance with very simple hysteresis control scheme. Conventional Direct Torque Control (CDTC) suffers from some drawbacks such as high torque ripple and variable switching frequency , difficulties in torque as well as flux control at very low speed. This paper is aimed to analyze DTC principles, the strategies ...

Switched Reluctance Motors (SRM) have inherent advantages such as simple structure with non winding construction in rotor side, fail safe because of its characteristic which has a high tolerances, robustness, low cost with no permanent magnet in the structure, and possible operation in high temperatures or in intense temperature variations. The torque production in switched reluctance motor com...