Multi-DoF Force Characterization of Soft Actuators

Characterization modeling and H∞ control of n-DOF Piezoelectric actuators : Application to a 3-DOF precise positioner

This paper deals with the characterization, the modeling and the closedloop control of multivariable piezoelectric actuators, with an application to a 3-DOF piezoelectric tube scanner, widely used in precise positioning. These actuators are typified by hysteresis and creep nonlinearities, badly damped oscillation and strong couplings between their axis. First, during the modeling, we propose to...

An experimental observation of uncoupling of multi-DOF PZT actuators in a compliant mechanism

The control of a dynamic system with multiple degreesof-freedom (DOF) is far simpler if the system is uncoupled. The property of an uncoupled system can be achieved with careful design of mechanical structures in the case of conventional mechanisms. The study reported in this paper will show via experiment the uncoupling property in a compliant mechanism, which is driven by three PZT actuators....

Polypyrrole Soft Actuators

Design of multi-DOF electromagnetic actuators using distributed multipole models and image method

Design and control of many electromagnetic actuators involve solving three dimensional (3D) magnetic fields of permanent magnets and/or electromagnets in the presence of magnetic conducting surfaces. This paper extends the distributed multipole (DMP) method, which offers compact but precise analysis for three dimensional magnetic fields in closed form, to account for the effects of magnetic con...

Stiffness Modulation of A1-DOF Robotic Manipulator with Antagonistic Actuators

-Stiffness modulation scheme for a robotic driving system with redundant actuation was investigated in this paper. The dynamic and the stiffness models of a simple system having one link and two prismatic actuators were derived and employed for computational simulations of dynamic response to an initial disturbance. Several combinations with different types of elastic elements were applied to t...