Modeling and control of a pneumatic artificial muscle manipulator joint – Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect

This paper describes the design and control of a compact and flexible pneumatic artificial muscle (PAM) actuation system for bio-robotic systems. The entire paper is divided into two parts, with the first part covering the mechanism design and the second part covering the corresponding controller design. This novel system presented in this part incorporates two new features, including a variable-radius pulley based PAM actuation mechanism, and a spring-return mechanism to replace the PAM in the “weak” direction. With the pulley radius as a function of the joint angle, this new feature enables the designer to freely modulate the shape of the torque curve, and thus achieves a significantly higher flexibility than the traditional configuration. The other new feature, the spring-return mechanism, is inspired by the fact that a large number of bio-robotic systems require a significantly larger torque in one direction than the other.

Download Full-text

2A2-J03 Modelling and Control of Two link mechanism Driven by Pneumatic Artificial Muscle Actuator(Mechanism and Control for Actuator)

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2011._2a2-j03_1 ◽

2011 ◽

Vol 2011 (0) ◽

pp. _2A2-J03_1-_2A2-J03_4

Author(s):

Nobutaka TSUJIUCHI ◽

Takayuki KOIZUMI ◽

Tomoyuki MIZUNO ◽

Masashi KIMURA ◽

Hiroyuki KOJIMA ◽

...

Keyword(s):

Artificial Muscle ◽

Pneumatic Artificial Muscle ◽

Link Mechanism ◽

And Control

Download Full-text

Analysis of Hysteresis-Free Creep of the Stack Piezoelectric Actuator

Mathematical Problems in Engineering ◽

10.1155/2013/187262 ◽

2013 ◽

Vol 2013 ◽

pp. 1-10 ◽

Cited By ~ 3

Author(s):

Xueliang Zhao ◽

Chengjin Zhang ◽

Hongbo Liu ◽

Guilin Zhang ◽

Kang Li

Keyword(s):

Fixed Point ◽

Piezoelectric Actuator ◽

High Speed ◽

Creep Model ◽

Modeling And Control ◽

Creep Effect ◽

Proposed Model ◽

Series Of Experiments ◽

Creep Models ◽

And Control

A modified log-type creep model without hysteresis of the stack piezoelectric actuator is presented. For high-speed micro-/nanopositioning system, the time scale should be less than one second for creep modeling and control in the stack piezoelectric actuator. But creep effect was studied in the frame of minutes in previous works. Meanwhile, parameters of the classical creep models are hard to be determined. By the proposed model, the hysteresis and the creep effect can be separated. A series of experiments have been performed, where different staircase voltages have been applied to the actuator. There are two clear rules to follow in small duration and different heights to determine parameters. Firstly,L0starts from fixed point either in ascending stage or in descending stage and rotates clockwise. Secondly,γconverges to a small vicinity of a constant when the duration is small enough.

Download Full-text

DESIGN AND CONTROL OF A VARIABLE-RADIUS PULLEY-BASED PNEUMATIC ARTIFICIAL MUSCLE ACTUATION SYSTEM

International Journal of Robotics and Automation ◽

10.2316/journal.206.2013.4.206-3923 ◽

2013 ◽

Vol 28 (4) ◽

Author(s):

Xiangrong Shen ◽

Garrett Waycaster ◽

Sai-Kit Wu

Keyword(s):

Artificial Muscle ◽

Pneumatic Artificial Muscle ◽

Variable Radius ◽

Actuation System ◽

And Control

Download Full-text

Gray-box modeling and control of torsional fishing-line artificial muscle actuators

Electroactive Polymer Actuators and Devices (EAPAD) XX ◽

10.1117/12.2295899 ◽

2018 ◽

Cited By ~ 2

Author(s):

Kentaro Takagi ◽

Chihaya Oiwa ◽

Ken Masuya ◽

Kenji Tahara ◽

Toshihira Irisawa ◽

...

Keyword(s):

Artificial Muscle ◽

Modeling And Control ◽

Muscle Actuators ◽

And Control

Download Full-text

Modeling and control of McKibben artificial muscle enhanced with echo state networks

Control Engineering Practice ◽

10.1016/j.conengprac.2012.01.002 ◽

2012 ◽

Vol 20 (5) ◽

pp. 477-488 ◽

Cited By ~ 21

Author(s):

Kexin Xing ◽

Yongji Wang ◽

Quanmin Zhu ◽

Hanying Zhou

Keyword(s):

Artificial Muscle ◽

Modeling And Control ◽

Echo State Networks ◽

And Control

Download Full-text

A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis

ASME 2010 Dynamic Systems and Control Conference, Volume 1 ◽

10.1115/dscc2010-4097 ◽

2010 ◽

Cited By ~ 3

Author(s):

Garrett Waycaster ◽

Sai-Kit Wu ◽

Xiangrong Shen

Keyword(s):

Sliding Mode ◽

Mechanical Design ◽

Knee Prosthesis ◽

Artificial Muscle ◽

Torque Control ◽

Stair Climbing ◽

Pneumatic Artificial Muscle ◽

Control Approach ◽

Energy Consuming ◽

And Control

This paper describes the mechanical design and control approach for an above-knee (AK) prosthesis actuated by pneumatic artificial muscle. Pneumatic artificial muscle (PAM) affords great potential in prosthetics, since this type of actuator features a high power density, and similar characteristics to human muscles. However, there is no application of PAM in AK prosthetics in existing literature to the best knowledge of the authors. In this paper, a design of the prosthesis is presented, which provides sufficient actuation torque for the knee joint in energy consuming locomotive functions such as fast walking and stair climbing. The corresponding control approach is also presented, which combines an impedance-based locomotive controller with a lower-level sliding-mode torque control approach. Experiments on the proposed AK prosthesis have also been conducted to demonstrate the ability to mimic normal gait characteristics.

Download Full-text