Control of artificial muscles of lower limb of artificial life body

2007 ◽  
Author(s):  
Masanori Sugisaka
Keyword(s):  
Lower Limb ◽  
Artificial Life ◽  
Artificial Muscles

scholarly journals Design and Control of a 1-DOF Robotic Lower-Limb System Driven by Novel Single Pneumatic Artificial Muscle

2019 ◽  
Vol 10 (1) ◽  
pp. 43 ◽  
Author(s):  
Tsung-Chin Tsai ◽  
Mao-Hsiung Chiang
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Robotic System ◽  
Artificial Muscles ◽  
Prototype System ◽  
Pneumatic Artificial Muscle ◽  
Torsion Spring ◽  
Pneumatic Artificial Muscles ◽  
Control Response ◽  
Spring Mechanism

This study determines the practicality and feasibility of the application of pneumatic artificial muscles (PAMs) in a pneumatic therapy robotic system. The novel mechanism consists of a single actuated pneumatic artificial muscle (single-PAM) robotic lower limb that is driven by only one PAM combined with a torsion spring. Unlike most of previous studies, which used dual-actuated pneumatic artificial muscles (dual-PAMs) to drive joints, this design aims to develop a novel single-PAM for a one degree-of-freedom (1-DOF) robotic lower-limb system with the advantage of a mechanism for developing a multi-axial therapy robotic system. The lower limb robotic assisting system uses the stretching/contraction characteristics of a single-PAM and the torsion spring designed by the mechanism to realize joint position control. The joint is driven by a single-PAM controlled by a proportional pressure valve, a designed 1-DOF lower-limb robotic system, and an experimental prototype system similar to human lower limbs are established. However, the non-linear behavior, high hysteresis, low damping and time-variant characteristics for a PAM with a torsion spring still limits its controllability. In order to control the system, a fuzzy sliding mode controller (FSMC) is used to control the path tracking for the PAM for the first time. This control method prevents approximation errors, disturbances, un-modeled dynamics and ensures positioning performance for the whole system. Consequently, from the various experimental results, the control response designed by the joint torsion spring mechanism can also obtain the control response like the design of the double-PAMs mechanism, which proves that the innovative single-PAM with torsion spring mechanism design in this study can reduce the size of the overall aid mechanism and reduce the manufacturing cost, can also improve the portability and convenience required for the wearable accessory, and is more suitable for the portable rehabilitation aid system architecture.

Determination of appropriate power for artificial muscles in lower limb orthosis

2006 ◽  
Vol 39 ◽  
pp. S31
Author(s):  
K. Kim ◽  
Y.-Y. Kim ◽  
R. Munho ◽  
T.-K. Kwon ◽  
C.-U. Hong ◽  
...  
Keyword(s):  
Lower Limb ◽  
Artificial Muscles

Passive and Active Control Strategies of a Leg Rehabilitation Exoskeleton Powered by Pneumatic Artificial Muscles

2017 ◽  
Vol 31 (10) ◽  
pp. 1759021 ◽  
Author(s):  
Chen Su ◽  
Ao Chai ◽  
Xikai Tu ◽  
Hongyu Zhou ◽  
Haiqiang Wang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Sliding Mode ◽  
Control Strategies ◽  
Low Cost ◽  
Gait Training ◽  
Interaction Force ◽  
Gait Rehabilitation ◽  
Artificial Muscles ◽  
Model Free ◽  
Pneumatic Artificial Muscles

Nerve injury can cause lower limb paralysis and gait disorder. Currently lower limb rehabilitation exoskeleton robots used in the hospitals need more power to correct abnormal motor patterns of stroke patients’ legs. These gait rehabilitation robots are powered by cumbersome and bulky electric motors, which provides a poor user experience. A newly developed gait rehabilitation exoskeleton robot actuated by low-cost and lightweight pneumatic artificial muscles (PAMs) is presented in this research. A model-free proxy-based sliding mode control (PSMC) strategy and a model-based chattering mitigation robust variable control (CRVC) strategy were developed and first applied in rehabilitation trainings, respectively. As the dynamic response of PAM due to the compressed air is low, an innovative intention identification control strategy was taken in active trainings by the use of the subject’s intention indirectly through the estimation of the interaction force between the subject’s leg and the exoskeleton. The proposed intention identification strategy was verified by treadmill-based gait training experiments.

Powering a Lower Limb Exoskeleton Using Pneumatic Artificial Muscles

2016 ◽  
Author(s):  
Jonathan M. Chambers ◽  
Craig R. Carignan ◽  
Norman M. Wereley
Keyword(s):  
Knee Joint ◽  
Lower Limb ◽  
Kinematic Model ◽  
Knee Joints ◽  
Transmission Model ◽  
Artificial Muscles ◽  
Lower Limb Exoskeleton ◽  
Actuation System ◽  
Pneumatic Artificial Muscles ◽  
Assembly Tasks

Passive leg exoskeletons are currently being investigated for offsetting the weight of tools and other loads from workers performing maintenance and assembly tasks. By providing power-assist to the knee joints with pneumatic artificial muscles (PAMs), a wider range of stances could be used by maintenance workers without drawing significant power. A simplified kinematic model of the exoskeleton is developed, and the array of potential user stance configurations is then bounded. A static analysis is performed to define the torque required for actuation of the knee joint to support the tool loads carried by the exoskeleton. Finally, an exemplary transmission model is used to verify that it is feasible for a PAM to provide the range of motion and forces required for knee joint actuation. Upon demonstration of the viability of PAM actuation, development of an exoskeleton leg prototype is underway to provide validation of the proposed scheme. The knee actuation system will be retrofit to the FORTIS exoskeleton, and tests on its effectiveness will be conducted.

scholarly journals Analysis and control of a parallel lower limb based on pneumatic artificial muscles

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668500 ◽  
Author(s):  
Feilong Jiang ◽  
Guoliang Tao ◽  
Qingwei Li
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Joint Movement ◽  
Obturator Internus ◽  
Pneumatic Artificial Muscles ◽  
Human Limb ◽  
Adaptive Control Algorithm ◽  
And Control

Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

An Experimental Powered Lower Limb Prosthesis Using Proportional Myoelectric Control

2014 ◽  
Vol 8 (2) ◽  
Author(s):  
Stephanie Huang ◽  
Jeffrey P. Wensman ◽  
Daniel P. Ferris
Keyword(s):  
Lower Limb ◽  
Muscle Activity ◽  
Plantar Flexion ◽  
Myoelectric Control ◽  
Artificial Muscles ◽  
Plantar Flexors ◽  
Force Output ◽  
Prosthetic Socket ◽  
Pneumatic Artificial Muscles ◽  
Powered Prosthesis

One way to provide powered lower limb prostheses with greater adaptability to a wearer's intent is to use a neural signal to provide feedforward control of prosthesis mechanics. We designed and tested the feasibility of an experimental powered ankle-foot prosthesis that uses pneumatic artificial muscles and proportional myoelectric control to vary ankle mechanics during walking. The force output of the artificial plantar flexor muscles was directly proportional to the subject's residual gastrocnemius muscle activity. The maximum force generated by a pair of artificial muscles fixed at nominal length was 3513 N. The maximum planter flexion torque that could be generated during walking was 176 Nm. The force bandwidth of the pneumatic artificial muscles was 2 Hz. The electromechanical delay was 33 ms, the time to peak tension was 48 ms, and the half relaxation time was 50 ms. We used two artificial muscles as dorsiflexors and two artificial muscles as plantar flexors. The prosthetic ankle had 25 deg of dorsiflexion and 35 deg of plantar flexion with the artificial muscles uninflated. The intent of the device was not to create a commercially viable prosthesis but to have a laboratory prototype to test principles of locomotor adaptation and biomechanics. We recruited one unilateral transtibial amputee to walk on a treadmill at 1.0 m/s while wearing the powered prosthesis. We recorded muscle activity within the subject's prescribed prosthetic socket using surface electrodes. The controller was active throughout the entire gait cycle and did not rely on detection of gait phases. The amputee subject quickly adapted to the powered prosthesis and walked with a functional gait. The subject generated peak ankle power at push off that was similar between amputated and prosthetic sides. Our results suggest that amputees can use their residual muscles for proportional myoelectric control to alter prosthetic mechanics during walking.

Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles

2008 ◽  
Vol 20 (3) ◽  
pp. 466-472 ◽  
Author(s):  
Daisuke Sasaki ◽  
◽  
Toshiro Noritsugu ◽  
Masahiro Takaiwa
Keyword(s):  
Lower Limb ◽  
Physical Therapist ◽  
Artificial Muscles ◽  
Training Device ◽  
Knee Rehabilitation ◽  
Robot Technology ◽  
Reaction Torque

A robot technology is exceedingly expected to solve a problem of a lack of a physical therapist. In this study, the bilateral type pneumatic wearable master-slave training device used by a trainer and a trainee is developed to feed back a force information to the trainer. In the case of the rehabilitation when separated human attaches the separated device, it has a threat of applying the excessive torque to a patient. To prevent the trainer from increasing excessive torque at the movable angle limit of the trainee, a reaction torque of the slave user is transmitted to the master user.In this paper, the structure of the developed device is discussed, and then the validity of the proposed device is evaluated from the experiments that assume knee rehabilitation.

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