TY - JOUR
T1 - Towards human friendly hydraulics - Passive teleoperation of hydraulic equipment using a force feedback joystick
AU - Li, Perry Y.
AU - Krishnaswamy, Kailash
PY - 2002
Y1 - 2002
N2 - Hydraulic systems, as power source and transmission, offer many advantages over electromechanical or purely mechanical counterparts in terms of power density, flexibility and portability. Many hydraulic systems require touching and contacting the physical environments; and many of these systems are directly controlled by human. If hydraulic systems are passive, they would be safer to interact with, and easier for human to control. In this paper, we describe our current research in developing bilateral passive teleoperated hydraulic machines which a human operator controls via a force feedback joystick. Two key developments are 1) methodologies to passify the electrohydraulic valves as a two-port device, and 2) the passive teleoperation controllers.
AB - Hydraulic systems, as power source and transmission, offer many advantages over electromechanical or purely mechanical counterparts in terms of power density, flexibility and portability. Many hydraulic systems require touching and contacting the physical environments; and many of these systems are directly controlled by human. If hydraulic systems are passive, they would be safer to interact with, and easier for human to control. In this paper, we describe our current research in developing bilateral passive teleoperated hydraulic machines which a human operator controls via a force feedback joystick. Two key developments are 1) methodologies to passify the electrohydraulic valves as a two-port device, and 2) the passive teleoperation controllers.
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U2 - 10.4271/2002-01-1492
DO - 10.4271/2002-01-1492
M3 - Conference article
AN - SCOPUS:85072470434
SN - 0148-7191
JO - SAE Technical Papers
JF - SAE Technical Papers
T2 - SAE International Off-Highway Congress - Co-located with CONEXPO-CON/AGG
Y2 - 19 March 2002 through 21 March 2002
ER -