Abstract
This research will be realizing Human Adaptive Mechanism for Physical Human Machine interaction by applying several intelligent pneumatic cylinders. Each cylinder consists of optical encoder, force sensor,valve and controlled by PSoC as the central processing unit. PSoC will handle I2C communication, input and output data from ADC, counter and PWM module. Four types of control approaches were used and done experimentally towards realizing the final goal which is position servo control, force control, compliance control and viscosity control. By applying these control approach, the intelligent cylinders have the ability to detect objects with different stiffness and damping characteristics for future Intelligent Chair Tool.
