A force-controlled pneumatic actuator for use in teleoperation masters

A new pneumatic actuator for use in teleoperation masters and robot wrists requiring moderate, but accurate, force control is presented. The actuator uses flapper valves and low-friction cylinders. Its force is controlled by servoing differential pressure. Aspects of valve design, system modeling, controller design and experimental results are presented. A feedback controller is designed and implemented using a digital signal processor. For stationary loads, force control by pressure feedback is demonstrated with good frequency response and excellent repeatability.<
>