What question did this study set out to answer?

This research aims to develop a reciprocating linear actuation system for accurate position control using electrorheological fluid clutches.

April 23, 2026Journal of the Robotics Society of Japan0 citationsOpen Access

Reciprocating Motion Utilizing Electrorheological Fluid Clutches: Position Control based on a Neural Network Model and the PD Computed Torque Control Method

SHShouren Huang MIMasatoshi Ishikawa

Key Points

This research aims to develop a reciprocating linear actuation system for accurate position control using electrorheological fluid clutches.
Developed a position controller based on computed torque control (CTC) with a proportional–derivative (PD) feedback loop.
Examined a feedforward neural network with a single hidden layer to model torque transmission.
Conducted experiments to validate the effectiveness of the proposed control architecture.
Achieved robust and accurate position control under torque disturbances.
Demonstrated the effectiveness of the neural network in modeling the inverse problem of torque transmission.
Confirmed system performance in real-time applications.

Abstract

A reciprocating linear actuation system utilizing electrorheological (ER) fluid clutches is developed. In this paper, we focus on achieving accurate position control of the proposed system. In order to realize real-time application, a simple feedforward neural network with a single hidden layer is examined to model the inverse problem of torque transmission. We then develop the position controller based on the computed torque control (CTC) framework, augmented with a proportional–derivative (PD) feedback loop. Experimental results confirm that the proposed control architecture delivers robust and accurate position control, even under disturbances caused by randomly changing motor torque inputs.

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