| 摘要 |
PROBLEM TO BE SOLVED: To provide a low-cost, highly reliable control system by reducing the number of sensors to a minimum for a passive actuator that uses functional materials. SOLUTION: A passive actuator control system includes: a passive actuator 2 having an operation part 21, a detection part 23 for detecting the operating condition of the operation part 21, and a functional material part 29 for varying the operating feel of the operation part 21; a disturbance observer 3 that estimates any disturbance affecting the passive actuator 2 and compensates the disturbance by feeding back an application signal to the passive actuator 2; an operational input estimation observer 4 that estimates an operational input value input to the passive actuator 2; and a controller 5 that outputs the application signal resulting from the adding together of a command signal for controlling the viscoelastic characteristic of the functional material part 29 of the passive actuator 2 according to the operating condition of the operation part 21 detected by the detection part 23 and an estimated operational input signal from the operational input estimation observer 4. COPYRIGHT: (C)2011,JPO&INPIT |
