Skip to main content
Springer Nature Link
Log in

Control of Pneumatic Actuators with Long Transmission Lines for Rehabilitation in MRI

  • Conference paper
  • First Online:
2016 International Symposium on Experimental Robotics (ISER 2016)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

Included in the following conference series:

Abstract

This study presents methods for understanding, modeling and control of tele-operated pneumatic actuators for rehabilitation in Magnetic Resonance Imaging (MRI). Pneumatic actuators have excellent MRI-compatibility as opposed to conventional electro-mechanical systems; however, the actuator and the system drivers cannot be co-located due to the MRI-compatibility requirements. The actuators are driven via long transmission lines, which affect the system dynamics significantly. Methods provided in this work produced accurate pressure estimation and control by accounting for the pressure dynamics in the lines, which has been neglected by previous work in this area. The effectiveness of the presented modeling and control methods were demonstrated on tele-operation test setups. This study also includes the design of necessary system components for the developed algorithms. An MRI-compatible optical sensor was developed for force feedback and its design was analyzed for high precision.

M. Turkseven–This work is supported by the Center of Compact and Efficient Fluid Power (CCEFP).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Elmasry, A., Liermann, M.: Passive pneumatic teleoperation system. In: ASME/BATH 2013 Symposium on Fluid Power and Motion Control, pp. V001T01A040-V001T01A040. American Society of Mechanical Engineers (2013)

    Google Scholar 

  2. Gassert, R., Burdet, E., Chinzei, K.: Opportunities and challenges in MR-compatible robotics. IEEE Eng. Med. Biol. Mag. 27(3), 15–22 (2008)

    Article  Google Scholar 

  3. Gulati, N., Barth, E.: A globally stable, load-independent pressure observer for the servo control of pneumatic actuators. IEEE/ASME Trans. Mechatron. 14(3), 295–306 (2009)

    Article  Google Scholar 

  4. Krichel, S.V., Sawodny, O.: Non-linear friction modelling and simulation of long pneumatic transmission lines. Math. Comput. Model. Dyn. Syst. 20(1), 23–44 (2014)

    Article  MATH  Google Scholar 

  5. Li, J., Kawashima, K., Fujita, T., Kagawa, T.: Control design of a pneumatic cylinder with distributed model of pipelines. Precis. Eng. 37(4), 880–887 (2013)

    Article  Google Scholar 

  6. Sergi, F., Chawda, V., OMalley, M.K.: Interaction control of a non-backdriveable MR-compatible actuator through series elasticity. In: ASME 2013 Dynamic Systems and Control Conference, pp. V002T27A002-V002T27A002. American Society of Mechanical Engineers (2013)

    Google Scholar 

  7. Turkseven, M., Ueda, J.: Design of an MRI compatible haptic interface. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2139–2144. IEEE (2011)

    Google Scholar 

  8. Turkseven, M., Ueda, J.: Analysis of an MRI compatible force sensor for sensitivity and precision. IEEE Sens. J. 13(2), 476–486 (2013)

    Article  Google Scholar 

  9. Turkseven, M., Ueda, J.: An asymptotically stable pressure observer based on load and displacement sensing for pneumatic actuators with long transmission lines. IEEE Trans. Mechatron. (2015)

    Google Scholar 

  10. Yang, B., Tan, U.-X., McMillan, A., Gullapalli, R., Desai, J.: Design and control of a 1-dof MRI-compatible pneumatically actuated robot with long transmission lines. IEEE/ASME Trans. Mechatron. 16(6), 1040–1048 (2011)

    Article  Google Scholar 

  11. Yu, N., Hollnagel, C., Blickenstorfer, A., Kollias, S.S., Riener, R.: Comparison of MRI-compatible mechatronic systems with hydrodynamic and pneumatic actuation. IEEE/ASME Trans. Mechatron. 13(3), 268–277 (2008)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Georgia Institute of Technology, 771 Ferst Drive, Atlanta, 30332, USA

    Melih Turkseven & Jun Ueda

Authors
  1. Melih Turkseven
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jun Ueda
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Melih Turkseven .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Turkseven, M., Ueda, J. (2017). Control of Pneumatic Actuators with Long Transmission Lines for Rehabilitation in MRI. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_8

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-50115-4_8

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-50114-7

  • Online ISBN: 978-3-319-50115-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics