| Autor: |
Yukiko Osawa, Ichiro Ogura, Abderrahmane Kheddar |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Case Studies in Thermal Engineering, Vol 63, Iss , Pp 105328- (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2214-157X |
| DOI: |
10.1016/j.csite.2024.105328 |
| Popis: |
In this paper, we address robotic haptics with the following question: is it possible to design a heating/cooling system that can fulfill both the necessity of keeping the inner robot actuators at a desired optimal heat and, at the same time, use actuators energy loss in terms of heat conveyed, through a soft robotic cover, as pleasant thermal sensation to a human when the robot is touched? We propose a solution to address this question in terms of mechatronic design. Indeed, internal heat generated by actuator loss can be transferred to the robotic haptic cover and a cooling tank for thermal display purposes. A suitable switching control strategy is divided to fulfill the double objective of keeping the actuators’ temperature under a given threshold whilst displaying the desired temperature to the soft robot’s cover. We assess our ideas with an experimental set-up using one actuator and our original soft cover technology with a preliminary user study. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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