{"id":44,"date":"2016-02-10T17:58:42","date_gmt":"2016-02-11T01:58:42","guid":{"rendered":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/?page_id=44"},"modified":"2017-06-30T14:14:47","modified_gmt":"2017-06-30T21:14:47","slug":"hybrid-actuator-with-air-muscles-and-spherical-mr-brake","status":"publish","type":"page","link":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/hybrid-actuator-with-air-muscles-and-spherical-mr-brake\/","title":{"rendered":"Hybrid actuator with air muscles and spherical MR-brake"},"content":{"rendered":"<br \/>\n<section id=\"builder-section-1459532595032\" class=\"row single gutter pad-top\">\n<div style=\"\" class=\"column one \">\n<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-185 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/HybridActuatorSpherical.jpg\" alt=\"HybridActuatorSpherical\" width=\"99\" height=\"130\" \/>This research was motivated by the possibility of haptic rendering of rigid and elastic virtual objects with a compact and powerful actuator.\u00a0 A 2-DOF compact, high-torque haptic device has been developed.\u00a0 The system uses a spherical MR-brake and a unique air muscle configuration that utilizes three air muscles to control two degrees of freedom. \u00a0To the best of our knowledge, this is <em>the only haptic device using air muscles and a spherical brake<\/em>.<\/p>\n<p>The device has peak torque output of about 8.1 Nm (4.4 Nm active torque output and 3.7 Nm passive torque output) and has a 76.2 mm diameter at the base and 152 mm height.\u00a0 It can apply 16 N force at the tip of the joystick handle which can be complemented by an additional 13.5 N when the air muscles saturate and the MR-brake is locked.<\/p>\n<p>&nbsp;<\/p>\n<p><em><strong>Publications<\/strong><\/em><\/p>\n<ul type=\"disc\">\n<li>&#8220;Haptic joystick with hybrid actuator using air muscles and spherical MR-brake,&#8221;\u00a0<em>Mechatronics<\/em>, vol. 21, pp. 952-960, 2011.<\/li>\n<li>\u201cPosition Control of Multi-DOF Hybrid Actuator with Air Muscles and MR-brake,\u201d Proceedings of the ASME 2013 International Design Engineering Technical Conferences &amp; Computers and Information in Engineering Conference IDETC\/CIE 2013, Portland, OR, August 2013.<\/li>\n<\/ul><\/div>\n<\/section>\n","protected":false},"excerpt":{"rendered":"<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-185 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/HybridActuatorSpherical.jpg\" alt=\"HybridActuatorSpherical\" width=\"99\" height=\"130\" \/>This research was motivated by the possibility of haptic rendering of rigid and elastic virtual objects with a compact and powerful actuator.\u00a0 A 2-DOF compact, high-torque haptic device has been developed.\u00a0 The system uses a spherical MR-brake and a unique air muscle configuration that utilizes three air muscles to control two degrees of freedom. \u00a0To the best of our knowledge, this is <em>the only haptic device using air muscles and a spherical brake<\/em>.<\/p>\n<p>The device has peak torque output of about 8.1 Nm (4.4 Nm active torque output and 3.7 Nm passive torque output) and &#8230; <a href=\"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/hybrid-actuator-with-air-muscles-and-spherical-mr-brake\/\" class=\"more-link\"><span class=\"more-default\">&raquo; More &#8230;<\/span><\/a><\/p>\n","protected":false},"author":2136,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"template-builder.php","meta":{"_wsuwp_accessibility_report":[]},"wsuwp_university_location":[],"wsuwp_university_org":[],"_links":{"self":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/44"}],"collection":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/users\/2136"}],"replies":[{"embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/comments?post=44"}],"version-history":[{"count":5,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/44\/revisions"}],"predecessor-version":[{"id":386,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/44\/revisions\/386"}],"wp:attachment":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/media?parent=44"}],"wp:term":[{"taxonomy":"wsuwp_university_location","embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/wsuwp_university_location?post=44"},{"taxonomy":"wsuwp_university_org","embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/wsuwp_university_org?post=44"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}