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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    Title :

    Towards Human Friendly Hydraulics - Passive Teleoperation of Hydraulic Equipment Using a Force Feedback Joystick


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    International Off-Highway & Powerplant Congress ; 2002



    Publication date :

    2002-03-19




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Towards human friendly hydraulics - passive teleoperation of hydraulic equipment using a force feedback joystick

    Li,P.Y. / Krishnaswamy,K. / Univ.of Minnesota,US | Automotive engineering | 2002




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