Nonlinear displacement control of magnetic material actuators

Jayaneththi, Vinura; Aw, Kean C.; McDaid, Andrew

doi:10.1088/1361-665x/ab6691

Cited by 3 publications

(4 citation statements)

References 27 publications

(37 reference statements)

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“…Accurate position tracking could only be achieved using closed-loop control methods [32]. This work utilized laser displacement sensing to measure the position of the endeffector.…”

Section: Discussionmentioning

confidence: 99%

“…The nonlinearity of MPC systems has been established in previous work [16,32]. The hyperelasticity of the elastomer, nonlinear magnetic filler properties and inhomogeneity of the applied field, all contribute.…”

Section: Controller Designmentioning

confidence: 97%

“…In addition, variable stiffness allows the manipulator to transition from handling delicate objects to performing large load bearing tasks [30]. MPCs are highly nonlinear, so closed-loop control is a prerequisite for most applications [16,31,32]. However, MPC control and supporting experimental validation is lacking in the current literature.…”

Section: Introductionmentioning

confidence: 99%

“…This paper presents a wireless MPC-driven manipulator capable of low error position tracking and controllable stiffness. Previous work explored position control for a single MPC actuator [32]. Here, an antagonistic actuator was developed with a stiffness controller to regulate end-effector position and tip force.…”

Section: Introductionmentioning

confidence: 99%

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Wireless manipulation using magnetic polymer composites

Jayaneththi

McDaid

2020

Smart Mater. Struct.

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The risk of damage when handling delicate objects can be reduced by using soft actuators. This paper presents a novel wireless magnetic polymer composite-driven system for soft robotic manipulation. Magnetic polymer composites, or MPCs, are wireless soft material actuators capable of large deformation and fast response. In this work, an antagonistic pair of MPCs were utilized to control the position and stiffness of a wireless end-effector. Experimental testing revealed that the proposed system could achieve low error position tracking (root mean square error0.438 mm) and variable stiffness across the workspace. This research confirms the feasibility of using MPC for robotic manipulation in applications where displacement and stiffness are essential performance requirements.

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“…Accurate position tracking could only be achieved using closed-loop control methods [32]. This work utilized laser displacement sensing to measure the position of the endeffector.…”

Section: Discussionmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Wireless manipulation using magnetic polymer composites

Jayaneththi

McDaid

2020

Smart Mater. Struct.

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Enhancing the Performance of Soft Actuators with Magnetic Patterns

Hermann,

Butaud,

Manceau

et al. 2024

Adv Materials Technologies

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This study presents a concept for a straightforward method to enhance the actuation performances of magneto‐active elastomer membranes. The concept is based on a characteristic magnetization pattern and offers a solution to two major difficulties in the actuation of thin and mechanically soft magnetic actuators: the localization of actuation forces and the self‐demagnetization. After the magnetization process, the membrane presents two regions with an oppositely oriented out‐of‐plane magnetization. The magnetized regions are separated by a transition zone which is called magnetic pole transition. Experimental investigations reveal a high magnetic flux density near the pole transition—even in the center of bidirectionally magnetized membranes—whereas the magnetic flux density of a uniformly magnetized membrane decreases toward the center. In additional experiments, membranes with both magnetization patterns are actuated by stiff permanent magnets. The resulting out‐of‐plane displacement of the bidirectionally magnetized membrane exceeds the displacement of the unidirectionally magnetized membrane by far. The investigations demonstrate that this enhancement stems from the presence of the magnetic pole transition. All experiments are reproduced using magnetic and magneto‐mechanical numerical models; a good accordance between the results is achieved.

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Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Shariati

Würdemann

2023

Journal of Mechanisms and Robotics

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Phonation results from the passively-induced oscillation of the vocal folds in the larynx, creating sound waves that are then articulated by the mouth and nose. Patients undergoing laryngectomy have their vocal folds removed and thus must rely on alternative sources of achieving desired vibration of artificial vocal folds. Existing solutions, such as voice prostheses and the Electrolarynx, are limited by producing sufficient voice quality, for instance. In this paper, we present the analysis of an active actuation model to replicate the vowels /a/, /e/, /i/, and /u/ and voice qualities of /vocal fry/, modal, /falsetto/, /breathy/, /pressed/, and /whispery/. These characteristics would be required as a first step to design an artificial vocal folds system. Dynamic equations are derived to identify the required forces to change the glottis area and frequencies to achieve sufficient oscillation of artificial vocal folds. Two types of Ionic polymer-metal composite (IPMC) actuators are used to assess their ability to produce these forces and the corresponding activation voltages required. The results of our proposed analysis will enable research into the effects of natural phonation and, further, provide the foundational work for the creation of advanced larynx prostheses.

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Nonlinear displacement control of magnetic material actuators

Cited by 3 publications

References 27 publications

Wireless manipulation using magnetic polymer composites

Wireless manipulation using magnetic polymer composites

Enhancing the Performance of Soft Actuators with Magnetic Patterns

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

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