Shape memory alloy actuator controller design for tactile displays
Shape memory alloy actuator controller design for tactile displays
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用于触觉显示器的形状记忆合金执行器控制器设计
DOI：
10.1109/cdc.1995.479133
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
W.J. Peine
中科院分区：
文献类型：
--
作者：
R. Howe;D.A. Kontarinis;W.J. Peine
本文介绍了用于灵巧远程操作应用的触觉形状显示器控制器的设计。该设备由一系列靠在人类指尖上的针元件组成。形状记忆合金 (SMA) 线致动器升高各个销钉以接近皮肤上所需的表面形状。为了克服 SMA 执行器响应时间慢的问题，我们实施了前馈微分补偿器和气动冷却。 SMA 执行器的迟滞和非线性响应需要使用带有光学发射器-接收器对的位置反馈的闭环控制器。这还提高了对人机交互导致的负载变化的鲁棒性。
This paper describes the design of a controller for a tactile shape display for dexterous telemanipulation applications. This device consists of an array of pin elements which rest against the human finger tip. Shape memory alloy (SMA) wire actuators raise individual pins to approximate the desired surface shape on the skin. To overcome the slow response times of SMA actuators we have implemented a feedforward derivative compensator and pneumatic cooling. The hysteretic and nonlinear response of the SMA actuators required the use of a closed loop controller with position feedback using an optical emitter-receiver pair. This also improves robustness to the load variations which result from human interaction.