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Development, Control, and Evaluation of an Actuated Car Door
July-September 2009 (vol. 2 no. 3)
pp. 170-180
Michael Strolz, Technische Universität München, Munich
Alexander Mörtl, Technische Universität München, Munich
Michael Gräf, BMW Forschung und Technik GmbH, Munich
Martin Buss, Technische Universität München, Munich
Actuated car doors are a promising way to increase the convenience of access to cars. We propose an advanced actuation and control concept which can easily be integrated into conventional car doors. By utilizing a linear, nonbackdrivable actuator and various sensors, both automatic and manual door operations are enabled. A discrete state controller ensures a safe operation of the door, including automatic opening and closing. The realization of a supportive, high-quality haptic interaction with the car door for the manual operation is the principal part of our work. Due to the impracticality of a direct measurement of the user interaction force at a car door, we chose impedance control to render the desired dynamics. The impedance was designed to provide a convenient, intuitive, and safe manual handling of the door. We implemented and tested four different impedance control schemes, of which impedance control with actuator force feedback performed best. Two experimental evaluations with 16 and 27 participants revealed a predominant approval of the actuated car door.

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Index Terms:
Haptic interaction, impedance control, active impedance, assistance functions, manual control, car doors.
Michael Strolz, Alexander Mörtl, Michael Gräf, Martin Buss, "Development, Control, and Evaluation of an Actuated Car Door," IEEE Transactions on Haptics, vol. 2, no. 3, pp. 170-180, July-Sept. 2009, doi:10.1109/TOH.2009.19
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