Model-Based Control and Design of a Low-Pressure Fluid Actuation System for Haptic Devices

Mathias Jordan, Luis Manuel Vaca Benitez, Steffen Schmidt, Michele Folgheraiter, Jan Albiez

In: Hubert Borgmann (editor). Proceedings der Actuator 2012. International Conference on New Actuators (ACTUATOR-12) June 18-20 Bremen Germany Pages 295-298 ISBN 978-3-933339-19-5 WFB die Wirtschaftsförderung Bremen Bremen 6/2012.


Nowadays, fluid actuation is widely applied due to its beneficial characteristics such as high power/weight ratio, back-drivability and scalability. This paper presents the design and model-based control of a modular low-pressure fluid actuation system, consisting of a miniature servo valve, driven by a voice coil motor, and a customized rotational actuator. Both are intended to be used in a nine-degrees-of-freedom exoskeleton for tele-robotic applications. The proposed control strategy is a combination of a flatness-based feed-forward and classical PD controller, extended by a disturbance observer and shows a superior performance compared to classical control strategies.


German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz