Design and control of a pneumatically driven MRI-compatible tele operated haptic interface
Başlık çevirisi mevcut değil.
- Tez No: 588799
- Danışmanlar: Dr. JUN UEDA
- Tez Türü: Doktora
- Konular: Makine Mühendisliği, Mechanical Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2016
- Dil: İngilizce
- Üniversite: Georgia Institute of Technology
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 149
Özet
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Özet (Çeviri)
This thesis presents a pneumatically driven haptic interface for rehabilitation in MRI, and methods for understanding, modeling and control of tele-operated pneumatic actuators. Pneumatic actuators have excellent MRI-compatibility as opposed to conventional electro-mechanic systems. They are also desirable for their inherent compliance and easy-maintenance. However, the actuator and the system drivers cannot be co-located due to the MRI-compatibility requirements. The actuators are driven via long transmission lines, which a ect the system dynamics signi cantly, and the use of commercial pressure sensors are prohibited in MRI rooms. This thesis addresses these challenges in the tele-operation of the pneumatic actuators and introduces novel approaches to mitigate the adverse e ects of long transmission in pneumatic drive. An optical force sensor was designed and prototyped to enable force feedback from the actuator in the MR-scanner. Subsequent analysis on the sensing quality of the designed sensor improved its hysteresis characteristics. Based on the enabled force feedback, a non-linear observer that achieves asymptotical stability was designed. The developed observer was validated experimentally. Finally, a control algorithm that accounts for the pressure dynamics in the transmission lines was introduced. The performance of the controller and its contribution in the force control accuracy were tested on systems with various line lengths. The methods and tools developed in this research are expected to expand the range of applications of tele-operated pneumatic actuators, particularly on rehabilitation in MRI.
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