2022 March - 34 articles
The horizontal translational oscillator with a rotational actuator (TORA) is a typical underactuated mechanical system, whose control problem is still open and theoretically challenging. At present, the existing control methods are structurally compl...
Hydraulic actuators play an important role in various industries. In the last decades, to improve system performance, some advanced control methods have been developed. Backstepping control, which can deal with the system nonlinearities, is widely us...
This study presents a compound control algorithm that enhances the servo accuracy and disturbance suppression capability of direct drive components (DDCs). The servo performance of DDCs is easily affected by external disturbance and the deterioration...
New technological and scientific advances in the development of sensors and actuators demand the development of new devices to deal with recent problems and challenges in these new and emerging processes. Moreover, paper-based devices have tremendous...
A compound scheme, based on an improved active disturbance rejection controller (ADRC) and nonlinear compensation, is developed for the electromechanical actuator (EMA) system in this paper. First, considering the influences of backlash, friction on...
In the field of robotics, soft robots have been showing great potential in the areas of medical care, education, service, rescue, exploration, detection, and wearable devices due to their inherently high flexibility, good compliance, excellent adapta...
Flywheels are used for peak shaving or load smoothing to generate a higher efficiency and a more stable power supply. Therefore, this paper investigates highly integrated outer rotor flywheels levitated by active magnetic bearings (AMB). Due to the h...
The performance of micromirrors in terms of their maximum deflection is often limited due to mechanical constraints in the design. To increase the range of achievable deflection angles, we present a novel concept in which a free-lying sphere with a f...
With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (&ld...
The tape-shaped Ti-Ni shape memory alloy (SMA) shows negative or quasi-zero stiffness during post-buckling deformation, and this characteristic can be applied to passive vibration isolator devices and force limit devices. Design calculation of the bu...
Soil surface roughness (SSR) is an important parameter affecting surface hydrology, erosion, gas exchange and other processes. The surface roughness of the farmland environment is directly related to the tillage process. In order to accurately charac...
Shape memory materials have been widely used as programmable soft matter for developing multifunctional hybrid actuators. Several challenges of fabrication and effective modelling of these soft actuating systems can be addressed by implementing novel...
To improve the handling stability of distributed drive electric buses, a vehicle stability control system based on direct yaw moment control (DYC) with a hierarchical control structure was designed. Considering that the vehicle dynamics system is hig...
Applying soft actuators to hand motion assist for rehabilitation has been receiving increasing interest in recent years. Pioneering research efforts have shown the feasibility of soft rehabilitation gloves (SRGs). However, one important and practical...
Accurately mastering the power transmission characteristics of the cutting arm transmission shaft system is key to improving the reliability and working capacity of the cantilever roadheader. Based on the rigid–flexible coupling vibration chara...
In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and sa...
Shape memory alloy actuators have been studied for more than thirty years. Many experimental tests have been performed, and several patents have been registered. However, designing such devices is still a challenging task. On the one hand, models are...
In accordance with the developing trend of “safety, comfort and low-carbon” technology, the market for intelligent X-by-wire chassis is huge. A new requirement of the X-by-wire system, including the response, accuracy, energy consumption...
Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, the stiffness of the drive chain is an important factor that affects the drive performance and can influence the locomotion behavior of the biped rob...
This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an...
Precise and stable operations in micromanipulation and microassembly require a high-performance microgripper. To improve the predominant static and dynamic characteristics, a novel piezoelectric-actuated compliant microgripper is designed, analyzed,...
With the ongoing research on soft robots, the performance of soft actuators needs to be enhanced for more wide robotic applications. Currently, most soft robots based on pneumatic actuation are capable of assisting small systems, but they are not ful...
The leg structure with high dynamic stability can make the bionic biped robot have the inherent conditions to perform elastic and highly dynamic motion. Compared with the quadruped robot, the leg structure of the biped robot is more complex and has m...
Haptic feedback is appealing for achieving the realistic perception of environmental changes for human bodies in human–computer interaction fields. However, existing haptic actuators have some hurdles such as single mode, poor compatibility, or...
A typical man–machine coupling system could provide the wearer a coordinated and assisted movement by the lower limb exoskeleton. The process of cooperative movement relies on the accurate perception of the wearer’s human movement informa...
Meta-reinforcement learning (meta-RL), used in the fault-tolerant control (FTC) problem, learns a meta-trained model from a set of fault situations that have a high-level similarity. However, in the real world, skid-steering vehicles might experience...
Downscaling has been a focal task of Electronics and Electromechanics in the last few decades, and a great engine for technological progress as well. Nevertheless, a scaling operation affects device physics, functioning and performance. The present p...
The demand for realistic haptic feedback actuators has increased as mobile devices have increased in popularity. However, most current haptic actuators provide limited 1-DOF tactile sensations, such as vibrations. This paper presents a 2-DOF haptic i...
Semantic segmentation plays a very important role in image processing, and has been widely used in intelligent driving, medicine, and other fields. With the development of semantic segmentation, the model has become more and more complex and the reso...
The bionic design of muscles is a research hotspot at present. Many researchers have designed bionic elastic actuators based on the Hill muscle model, and most of them include an active contraction element, passive contraction element and series elas...
The turbofan engine is a pivotal component of the aircraft. Engine components are susceptible to degradation over the life of their operation, which affects the reliability and performance of an engine. In order to direct the necessary maintenance be...
Electromechanical actuators (EMAs) have shown a high efficiency in flight surface control with the development of more electric aircraft. In order to identify the abnormalities and potential failures of EMA, a methodology for fault diagnosis is devel...
The fast-growing human–robot collaboration predicts that a human operator could command a robot without mechanical interface if effective communication channels are established. In noisy, vibrating and light sensitive environments, some sensors...
The current state of the art in compliant actuation has already good performance, but this is still insufficient to provide a decent autonomy for the next generation of robots. In this paper, a next step is taken to improve the efficiency of actuator...
