A series elastic brake pedal to preserve conventional pedal feel under regenerative braking

Warning The system is temporarily closed to updates for reporting purpose.

Çalışkan, Umut and Apaydın, Ardan and Otaran, Ata and Patoğlu, Volkan (2018) A series elastic brake pedal to preserve conventional pedal feel under regenerative braking. In: 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain

This is the latest version of this item.

[thumbnail of IROS18_1362_FI_(1).pdf] PDF
IROS18_1362_FI_(1).pdf
Restricted to Repository staff only

Download (2MB) | Request a copy

Abstract

We propose a force-feedback brake pedal with series elastic actuation to preserve the conventional brake pedal feel during cooperative regenerative braking. The novelty of the proposed design is due to the deliberate introduction of a compliant element between the actuator and the brake pedal whose deflections are measured to estimate interaction forces and to perform closed-loop force control. Thanks to its series elasticity, the force-feedback brake pedal can utilize robust controllers to achieve high fidelity force control, possesses favorable output impedance characteristics over the entire frequency spectrum, and can be implemented in a compact package using low-cost components. The applicability and effectiveness of the proposed series elastic brake pedal have been tested through human subject experiments that evaluate simulated cooperative regenerative braking scenarios with and without pedal feel compensation. The experimental results and responses to the accompanying questionnaire indicate that pedal feel compensation through the series elastic brake pedal can significantly decrease hard braking instances, improving safety and driver experience.
Item Type: Papers in Conference Proceedings
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 21 Aug 2019 15:19
Last Modified: 26 Apr 2022 09:33
URI: https://research.sabanciuniv.edu/id/eprint/38106

Available Versions of this Item

Actions (login required)

View Item
View Item