发表机构
Imperial College London; Huazhong University of Science and Technology（伦敦帝国学院; 华中科技大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出一种集成式MRF触觉系统，采用磁自密封旋转执行器与高保真力矩控制，通过优化磁通量布置提升性能，其控制器较PID大幅降低误差，可稳定运行，将变革人机协作模式。
AI 中文摘要
准确且稳定的力矩渲染对于安全且具有感知性的人机交互至关重要。基于磁流变液（MRF）的执行器提供了一种紧凑且可快速控制的触觉反馈解决方案，但其实际应用需要可靠的流体密封、低滞后激励、精确的力矩控制以及长时间运行的稳定性。本文提出了一种集成式MRF触觉系统，包含紧凑的磁自密封旋转执行器、低滞后PWM运行、基于高保真模型的力矩渲染，以及长时间运行时的稳定性能。静磁仿真用于指导磁性与非磁性材料的布置，以将磁通量集中在多盘式力矩区域和永磁密封区域，实现了最大600 N·mm/A的输出。实验表明，更高的PWM频率可降低滞后并提高可重复性；在10 kHz下，响应由随力矩变化方向和速度而变化的非线性模型表征。实时控制器结合了前馈、滞后补偿、PI反馈与滑模校正，与PID相比，其方波超调量、欠调量及稳态RMSE分别降低了77.4%、61.9%和68.3%；该控制器可跟踪正弦信号及基于生物力学模型的参考信号，1.5小时测试显示线圈附近仅升温2.5℃，且无明显跟踪损失。这种高保真力矩渲染将通过使人机交互更安全、高效且直观，从根本上变革人机协作模式。
英文摘要
Accurate and stable torque rendering is essential for safe and perceptive human--machine interaction. Magnetorheological fluid (MRF)-based actuators offer a compact and rapidly controllable solution for haptic feedback, but their practical implementation requires reliable fluid sealing, low-hysteresis excitation, accurate torque control, and stable long-duration operation. This article presents an integrated MRF haptic system featuring a compact magnetically self-sealed rotary actuator, low-hysteresis PWM operation, high-fidelity model-based torque rendering, and stable performance during long-time operation. Magnetostatic simulation guides the arrangement of magnetic and nonmagnetic materials to focus flux in the multidisk torque and permanent-magnet sealing regions, enabling a maximum 600 N$\cdot$mm/A output. Experiments show that higher PWM frequencies reduce hysteresis and improve repeatability. At 10 kHz, the response is represented by a nonlinear model that varies with the direction and speed of torque change. The real-time controller combines feedforward, hysteresis compensation, PI feedback, and sliding-mode correction. Compared with PID, it reduces square-wave overshoot, undershoot, and steady-state RMSE by 77.4\%, 61.9\%, and 68.3\%, respectively. It tracks sinusoidal and biomechanics-model-based references, and a 1.5-h test shows only a 2.5 $^\circ$C rise near the coil with no clear tracking loss. This high-fidelity torque rendering will fundamentally transform human--robot collaboration by making interactions safer, more efficient, and more intuitive.
CommentsSubmitted to IEEE/ASME Transactions on Mechatronics. 16 pages, 9 figures, including supplementary material
