Analytic and experimental study on fast response MR-fluid actuator

Takesue, Naoyuki; Furusho, Junji; Kiyota, Y.

doi:10.1109/robot.2003.1241596

Cited by 22 publications

(14 citation statements)

References 8 publications

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“…However, solutions, including using a current feed-forward approach and MR brake optimization, are available and will be implemented in the second prototype. Using these techniques, a time constant of 5 ms (32 Hz bandwidth) could be achieved [15]. 3.…”

Section: Discussionmentioning

confidence: 99%

Dual differential rheological actuator for robotic interaction tasks

Fauteux

Lauria

Legault

et al. 2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Robots fail to perform complex manipulation or locomotion tasks when using simple force or motion controllers applied to classic actuators. Stability and safety issues arise for reasons such as high output inertia and the non-collocation of sensing and actuating transducers. This paper presents a new actuation concept, integrating a DC motor and two differentially coupled magnetorheological brakes, promising safe and versatile interaction capabilities. This paper focuses on the underlying mechanism and a case study with a proof-ofconcept prototype.

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Section: Discussionmentioning

confidence: 99%

Dual differential rheological actuator for robotic interaction tasks

Fauteux

Lauria

Legault

et al. 2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…One of the methods how to select the suitable material and the geometry of MR damper is to use a magnetic simulation. According to the available information, only Naoyuki [9] and Strecker [5] dealt with the magnetic modelling of eddy currents in the magnetic circuit of magnetoreological devices. However, in their contribution, this issue was solved only marginally.…”

Section: Response Time Of Mr Dampermentioning

confidence: 99%

Transient Magnetic Model of Magnetorheological Damper and Its Experimental Verification

et al. 2018

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“…Takesue et al developed an MR fluid actuator, which consists of an MR fluid clutch between input and output parts [13][14]. This device has the benefits of safety and low inertia.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of an assistive knee brace with magnetorheological actuator

Chen

Liao

2010

2010 IEEE International Conference on Robotics and Biomimetics

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Magnetorheological (MR) fluid is a smart fluid, which rheological behavior can be controlled by magnetic field. Rotary devices using MR fluids have the benefits of high torque, good controllability, and low power requirement. Recently, we developed a new MR actuator and applied it to assistive knee braces. It was demonstrated that the knee brace with this MR actuator can provide proper torque under control. In this study, we evaluate the knee brace with MR actuator on three aspects: power consumption, torque output performances, and safety. A knee brace with MR actuator is compared to the knee brace without MR actuator. The power consumption for both knee braces under bending and extending processes as well as normal walking are evaluated; the force/torque controllability and output inertia of knee brace are studied; and the safety under some extreme conditions is tested.

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Analytic and experimental study on fast response MR-fluid actuator

Cited by 22 publications

References 8 publications

Dual differential rheological actuator for robotic interaction tasks

Dual differential rheological actuator for robotic interaction tasks

Transient Magnetic Model of Magnetorheological Damper and Its Experimental Verification

Experimental evaluation of an assistive knee brace with magnetorheological actuator

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