Compliant pneumatic muscle structures and systems for extra-vehicular and intra-vehicular activities in space environments

Early social reintegration of patients with disabilities of the wrist is possible with the help of dedicated rehabilitation equipment. Using such equipment reduces the duration of recovery and reduces significantly rehabilitation costs. Based on these considerations the paper puts forward a novel constructive solution of rehabilitation equipment that ensures the simultaneous passive mobilization of the radiocarpal, metacarpophalangeal, and interphalangeal joints. The novelty of this equipment consists in the bioinspired concept of the hand support based on the Fin-Ray effect and in driving it by means of a pneumatic muscle, an inherently compliant actuator. The paper places an emphasis on the compliant character of the rehabilitation equipment that is responsible for its adaptability to the concrete conditions of patient pain tolerability.

Download Full-text

Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators

Proceedings of the 2005, American Control Conference, 2005. ◽

10.1109/acc.2005.1470036 ◽

2005 ◽

Cited By ~ 40

Author(s):

A. Hildebrandt ◽

O. Sawodny ◽

R. Neumann ◽

A. Hartmann

Keyword(s):

Degrees Of Freedom ◽

Two Degrees Of Freedom ◽

Pneumatic Muscle ◽

Artificial Pneumatic Muscle ◽

Control Concept ◽

Muscle Actuators

Download Full-text

NASA's Space Environments and Effects (SEE) program: contamination engineering technology development

10.1117/12.366688 ◽

1999 ◽

Cited By ~ 1

Author(s):

Steven D. Pearson ◽

K. Stuart Clifton

Keyword(s):

Technology Development ◽

Engineering Technology ◽

Space Environments

Download Full-text

Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽

10.3390/act10020035 ◽

2021 ◽

Vol 10 (2) ◽

pp. 35

Author(s):

Yu Cao ◽

Zhongzheng Fu ◽

Mengshi Zhang ◽

Jian Huang

Keyword(s):

Control Method ◽

Experimental Studies ◽

State Observer ◽

Extended State Observer ◽

Extended State ◽

Pneumatic Muscle ◽

System States ◽

The Stability ◽

Twisting Control ◽

Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

Download Full-text