Piet C Teerhuis

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This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear parametric model of the system, a number of fitted linear black(More)
This paper describes the design and application of a haptic device to study the mechanical properties of the human arm during interaction with compliant environments. Estimates of the human endpoint admittance can be obtained by recording position deviations as a result of force perturbations. Previous studies attempted to estimate the impedance by(More)
Two main sources of disturbances can degrade the motion performance of the room (and so limit the possibilities of simulation), namely, the bearing, and the driving unit with its transmission system. Mostly, the bearings are affected with more or less Coulomb friction. This dry friction, which is far from constant, introduces acceleration disturbances that(More)
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