Towards human friendly hydraulics - a passivity approach
Prof Perry Y. Li (University of Minnesota)
Many hydraulic applications involve direct human control and the
system manipulating and interacting with the physical environment. I
will present recent research towards making such applications safer
and more human friendly by designing hydraulic systems that appear to
both the human and the physical environment as if they are passive two
port devices, i.e. systems that do not generate energy on their own. I
will describe a new class of "passive valves" obtained by passifying
the usual four way directional control valves using either structural
modification or via mechatronics feedback. Using the "passive valve",
a passive bilateral hydraulic teleoperation system is designed in
which a human operates a hydraulic actuator via a force feedback
joystick. The system allows the human to feel as if he is directly
manipulating a passive mechanical tool.
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