This paper presents a new pneumatic actuator for applications requiring moderate, but accurate, force control, such as teleoperation masters and robot wrists. The actuator uses voice-coil 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.
['D. Ben-Dov', 'Septimiu E. Salcudean']
A force-controlled pneumatic actuator