 |
||
 |
 |
 |
 |
||
 |
 |
 |
 |
 |
 |
 |
 |
|
 |
Title: Human/machine interfaces - passified chemofluidic control. Project Goal:The goal of this project is to model both pneumatic and chemo-fluidic actuations from a passivity framework and then develop associated control schemes to enable closed loop systems that will behave passively. What is the problem? :Many of the new ERC test beds (FP assisted hand tools, compact rescue crawler and possibly the orthosis) will be either pneumatically or chemo-fluidic (hot gas pneumatic) activated. They will also be in either physical direct contact or haptically teleoperated by humans and it is critical that these systems remain stable when interacting with either the physical environment or the human operator. A passive system approach, or roughly speaking one that does not generate energy but only stores, dissipates and releases it, is a promising approach from both a safety and ease of use standpoint. How to solve it?
|
