Haptic interaction plays an important role in the virtual reality technology, which let a person not only view the 3D virtual environment but also realistically touch the virtual environment. As a key part of haptic interaction, force feedback has become an essential function for the haptic interaction. Therefore, multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality. In this paper, some conventional multi-dimensional force sensors based on different measurement principles, such as resistive, capacitive, piezoelectric, are briefly introduced. Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed. It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body. Furthermore, the calibration process of the force sensor is analyzed, and problems in calibration are discussed. Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors. Therefore, reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors, and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper. At last, the trends and current challenges of multi-dimensional force sensing technology are proposed.

Multi-dimensional force sensor for haptic interaction: a review

In this study, dynamic characteristics of a robot six-axis wrist force/torque (F/T) sensor with crossbeam elastomer are analyzed by two methods of model identification, a method for simultaneous identification of order and parameters of the model (SIM) and a method based on the differential evolution (DE) algorithm. Firstly, by establishing the simplified mechanical model and finite element (FE) model, respectively, natural frequency of the six-axis wrist F/T sensor is calculated. Secondly, dynamic calibration experiment is conducted. Lastly, two dynamic models of the sensor are identified by SIM and DE methods and the dynamic characteristics of the sensor, such as natural frequency and working band, are further analyzed. Comparing experimental values with the theoretical values, the results show that this sensor has a wide dynamic range with the first natural frequency at more than 1600 Hz, working bands (±5%) are more than 400 Hz, and the step response oscillation is intense. This study can provide a reference for the application of the six-axis F/T sensor in the field of dynamic measurement.

Dynamic Characteristics Analysis of the Six-Axis Force/Torque Sensor

In this study, design and analysis studies of an asynchronous motor with a tapered geometry for a two-person electric vehicle were carried out. The goal of this study is to analyze change in the taper angle for this asynchronous motor in terms of the power factor, efficiency, starting torque, breakdown torque, and rated torque. First, the vehicle dynamics and the asynchronous motor structure were analyzed.
 Then, axial, radial, and hybrid (radiaxial) flux electric motor models and the purpose of these models were investigated. Literature studies have shown that there is no work related to angle optimization for a radiaxial flux with a conical geometry hybrid structure for an asynchronous motor. The required motor characteristics for a two-person electric vehicle have been calculated. Then, the package volume for the in-wheel motor was analyzed, and the maximum diameter and length of the asynchronous motor were determined. The minimum diameter of this engine package was also specified considering magnetic limit conditions such as saturation factor for rotor and stator of the asynchronous motor. Nine asynchronous motor models were designed and analyzed considering the maximum and minimum motor diameters to investigate the optimal taper angle of this asynchronous motor. And the results were discussed and evaluated.

Design and analysis of radiaxial induction motor

Hybrid suspension system with permanent magnet and electromagnet consumes little power consumption and can realize larger suspension gap. But realizing stable suspension of hybrid magnet is a tricky problem in the suspension control sphere. Considering from this point, we take magnetic flux signal as a state variable and put this signal back to suspension control system. So we can get the hybrid suspension mathematical model based on magnetic flux signal feedback. By application of MIMO feedback linearization theory, we can further realize linearization of the hybrid suspension system. And then proportion, integral, differentiation, magnetic flux density B (PIDB) controller is designed. Some hybrid suspension experiments have been done on CMS04 magnetic suspension bogie of National University of Defense Technology (NUDT) in China. The experiments denote that the new hybrid suspension control algorithm based on magnetic flux signal feedback designed in this paper has more advantages than traditional position-current double cascade control algorithm. Obviously, the robustness and stability of hybrid suspension system have been enhanced.

/pdf/design-of-magnetic-flux-feedback-controller-in-hybrid-3f7758iiss.pdf

Design of Magnetic Flux Feedback Controller in Hybrid Suspension System

A linear model of the magnetic-levitation maglev system, including magnetic flux signal, has been established based on feedback linearization. This paper emphasizes measurements of magnetic flux signal and velocity signal, which are realized easily by electromagnetic induction law. The magnetic flux signal's range obtained by this method is wide. The degree of sensitivity can be regulated by changing the vertical area of the induction coils. Furthermore, this paper has designed a PIDB proportion, integration, differentiation, flux density B controller based on flux feedback, and some experiments have been performed on a CMS04 magnetic suspension vehicle in the national mid-low speed maglev experiment field of Tangshan city, China. The experimental results denote that the PIDB control method designed in this paper has more advantages than the traditional control method with position and current double cascades, and the robustness and stability of the maglev control system by this method have been verified effectively.

Measurement and Control of Magnetic Flux Signal in a Maglev System

In order to improve the machining precision of the magnetic suspension spindle which is usually installed on machine tool or other elastic structures, and to minimize the effects of machine vibration, the complex magnetic suspension electromechanical coupling system was studied. The design variables, objective functions and constraint condition of coupling system were determined. The optimized program was worked out based on genetic algorithm in VC 6.0 environment and the optimum PID control parameters satisfying static and dynamic machining precision of the magnetic suspension spindle were obtained. The unit sinusoidal response, dynamic flexibility and static flexibility of the coupling system were analyzed. The analysis results show that the dynamic and static characters of the coupling system after optimization have been raised obviously than that before optimization. The adverse effect brought by machine vibration could be reduced by optimizing the PID control parameters of complex magnetic suspension electromechanical coupling system, and the machining precision of the magnetic suspension spindle unit can be improved.

Dynamic optimization of PID control parameters of complex magnetic suspension electromechanical coupling system

On the basis of the maglev spindle structure design, the PID control system is designed and its mathematical model is established. The influence of the PID control parameters on the response performance of the system is studied by using the MATLAB SISO. The global optimization design of the PID control system is achieved by using SRO (Simulink Response Optimization) module, and the system response performance of the maglev spindle achieves the best. It provides a more efficient and fast method for the parameter selection of maglev spindle control system.

Parameters optimization and dynamic characteristic analysis of maglev spindle control system

The problems existing in the traditional absorber can be solved better by adopting clearance control magnetic dynamic absorber to control the imbalance vibration of rotors. For the special structure of conical electromagnet, stiffness and damping formulas of the electromagnetic dynamic absorber are derived when the current source is taken as the power of the electromagnet, and the law of influence of various parameters on the stiffness and damping characteristics is obtained through numerical analysis. These researches lay theory foundation for further studies on the clearance control magnetic dynamic absorber.

Analysis of control characteristics of clearance control magnetic dynamic absorber

The control precision of the maglev system based on the force control should be evaluated by the dynamic performance of coupling system of multi-axis force sensor structure and its measuring circuits The dynamical model of the coupling system is established in consideration of the dynamic characteristics of multi-axis force sensor structure and its measuring circuits The amplitude-frequency curves of the coupling system are obtained through simulation, and its curves are modified in order to make coupling system get a better dynamic performance The results show that under the action of excitations, amplitude error of the coupling system unmodified reach to 9% when the frequencies of the excitation are lower than 330 Hz, and its dynamic characteristics are poor; Amplitude error of the coupling system modified is less than 1% and the coupling system has a good dynamic performance which can meet the lossless measuring conditions

Dynamic analysis of coupling system of multi-axis force sensor structure and its measuring circuits

Dynamic performances of 2-dimensional force sensor is a deciding factor of electromechanical coupling system, therefore, it is necessary to study its dynamic performance in the experiment. Dynamic model of mechanical structure is established and its pulse incentive response curves are obtained through the simulation. Dynamic performances of mechanical structure of 2-dimensional force sensor are studied in the experiment by using impulse stimulation method and its experimental values of pulse incentive response of are got. comparing experimental values with the theoretical values, the results show that the special structure design can effectively reduce the cross error; because of electromechanical system existing coupling, the performances of electromechanical coupling system are poorer and its error is larger, so adjusting circuit parameters and modifying dynamic performances, relative square integral absolute error, peak error and cross error of mechanical structure modified reduce greatly and amendment reduces the error of the measurement circuit and mechanical structure coupling.

Experimental research on dynamic performances of 2-dimensional force sensor applied for force feedback magnetic levitation control system

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