ACTION 10

Actuation

Driving a constrained-axis interface to a target state or position

Why It Matters

Buttons, knobs, sliders, and valves are built for people and offer no separate robot interface. Examples include running equipment start-up sequences, setting valve openings on process piping, and starting and stopping conveyors.

Automating without modifying the equipment means operating the same physical interfaces people use. The margin between the actuation threshold and the damage threshold is narrow, and the constrained direction differs from device to device, so position commands alone cannot do the job.

Skills 8

10-AButton Actuation

The travel and force needed to actuate are not known in advance, and actuation can be confirmed only by a change in resistance while pressing.

Button Actuation — Initial state
Initial stateA button is not actuated.
Button Actuation — Final state
Final stateThe button has been actuated without damage.
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10-BKnob Actuation

The hand covers the scale during operation, so whether the knob has stopped at the target position cannot be confirmed.

Knob Actuation — Initial state
Initial stateA knob is away from the target mark.
Knob Actuation — Final state
Final stateThe knob has stopped at the target mark.
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10-CSlider Actuation

The slider moves along a fixed axis, but the target range is narrow, so pushing even slightly too far overshoots it.

Slider Actuation — Initial state
Initial stateA slider is away from the target position.
Slider Actuation — Final state
Final stateThe slider has stopped at the target position.
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10-DToggle Actuation

Adjacent switches are closely spaced, yet switching requires a strong force, so a large force must be applied precisely in a tight space.

Toggle Actuation — Initial state
Initial stateThe designated switch in a row of adjacent switches has not been flipped.
Toggle Actuation — Final state
Final stateOnly the designated switch is flipped, and the adjacent switches remain unchanged.
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10-EBall Valve Actuation

A short lever must carry a large torque to move, and that force must be maintained while turning it to the specified angle.

Ball Valve Actuation — Initial state
Initial stateA lever-type valve is at its initial position.
Ball Valve Actuation — Final state
Final stateThe valve is turned to its target position.
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10-FWheel Valve Actuation

Full travel spans several turns and cannot be completed in one grasp, so the rotation must continue through repeated regrasping.

Wheel Valve Actuation — Initial state
Initial stateA multi-turn handwheel valve is at its initial position.
Wheel Valve Actuation — Final state
Final stateThe valve is turned to its target position.
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10-GHold-to-Run Actuation

The interface returns when released, so its actuated state must be maintained without interruption for the specified duration.

Hold-to-Run Actuation — Initial state
Initial stateA self-returning interface is not actuated.
Hold-to-Run Actuation — Final state
Final stateThe interface has been held actuated for the specified duration and is now released.
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10-HHinged Panel Opening

The panel swings in an arc about its hinge, so the pushing direction must change continuously as it opens.

Hinged Panel Opening — Initial state
Initial stateA hinged panel is closed.
Hinged Panel Opening — Final state
Final stateThe panel is open on its hinge at the target angle.
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