Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot

1997 ◽  
Vol 9 (1) ◽  
pp. 7-13 ◽  
Author(s):  
Toshiro Noritsugu ◽  
Keyword(s):  
Control Strategy ◽  
Electric Motor ◽  
Artificial Muscle ◽  
Industrial Robots ◽  
Pneumatic Actuator ◽  
Rehabilitation Robot ◽  
Robot System ◽  
Essential Function ◽  
Dc Electric Motor

A human-robot coexisting system requires the essential function such as safety and flexibility which are not common in general industrial robots. To build up such a robot system, an inherently flexible actuator must be effectively used rather than a conventional rigid actuator. A pneumatic actuator seems just available as such a human friendly actuator. In this paper, a property of the flexibility of pneumatic actuator is analyzed compared with a DC electric motor. Also the application of a pneumatic rubber artificial muscle actuator to a rehabilitation robot is discussed. The results show that a pneumatic actuator can well work as one of human friendly actuators with cooperation of a proper control strategy.

scholarly journals Build Design Of Electric Bike As Energy Efficient Transportation

2020 ◽  
Vol 2 (2) ◽  
pp. 65-72
Author(s):  
Sundhy Pareza ◽  
Purwantono Purwantono ◽  
Remon Lapisa ◽  
Primawati Primawati
Keyword(s):  
Global Warming ◽  
Power System ◽  
Electric Motor ◽  
Power Output ◽  
Energy Efficient ◽  
Experimental Methods ◽  
Average Speed ◽  
Electric Bicycle ◽  
Electric Bike ◽  
Dc Electric Motor

The issue of global warming is very strong in the force in the procession, the damage caused by global warming is very influential in the survival of living beings. The methods performed in this study are experimental methods. The experiments performed were to make a design and to become a unity so that it formed a tool of electric bicycle transportation that can be used well. This thesis author devise and assemble electric bicycle using DC electric motor 24 Volt 250 Watt and 3000 rpm. The power system used is 24 Volt 12 Ampere battery. From the results of the test and analysis of data that has been taken on the electric bicycle obtained data of the average speed obtained by the electric bike with a load of 78 = 4.94 m/s, load 83 = 4.59 m/s, load 88 = 4.25 m/s, power output to drive electric bicycle with load 78 = 266.679 Watt, load 83 = 263.810 Watt, load 88 = 258.984 Watt. Isu pemanasan global sangat kuat di gencar disuarakan, kerusakan yang disebabkan pemanasan global sangat berpengaruh pada kelangsungan hidup makluk hidup. Metode yang dilakukan dalam penelitian ini adalah metode eksperimen. Eksperimen yang dilakukan adalah membuat sebuah rancangan dan merakitnya menjadi suatu kesatuan sehingga terbentuk sebuah alat transportasi sepeda listrikyang dapat digunakan dengan baik. Skripsi ini penulis merancang dan merakit sepeda listrik dengan menggunakan motor listrik DC 24 Volt 250 Watt dan 3000 rpm. Sistem daya yang digunakan adalah baterai 24 Volt 12 Ampere. Dari hasil pengujian dan analisis data yang telah diambil pada sepeda listrik didapatkan data berupa kecepatan rata-rata yang didapatkan sepeda listrik dengan beban 78 = 4,94 m/s, beban 83 = 4,59 m/s, beban 88 = 4,25 m/s, daya output untuk menggerakkan sepeda listrik  dengan beban 78 = 266,679 Watt, beban 83 = 263,810 Watt, beban 88 = 258,984 Watt.

Programming industrial robots in FMS (A survey with particular reference to off-line, high-level robot program generation using VAL, VAL-II, AML And MARTI)

Robotica ◽  
1984 ◽  
Vol 2 (2) ◽  
pp. 87-92 ◽  
Author(s):  
Paul G. Ranky
Keyword(s):  
Operating System ◽  
Machine Tool ◽  
Industrial Robots ◽  
Robot Programming ◽  
Robot System ◽  
Program Generation ◽  
High Level ◽  
Program Generator ◽  
System Programming

SUMMARYThere is a great deal to be done in machine tool and robot programming research. The major problems include the slowness of the introduction of machine controllers, which have similar operating system and interfacing capabilities as the current 16 bit and 32 bit microcomputers, and the lack of intelligent, high-level standard languages, providing access not only at a high level, but also at the robot system programming level. The introduced and illustrated “MARTI” off-line robot program generator, under development by the author, attempts to provide software in this area.

scholarly journals A reward–punishment feedback control strategy based on energy information for wrist rehabilitation

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142094065
Author(s):  
Jiajin Wang ◽  
Jiaji Zhang ◽  
Guokun Zuo ◽  
Changcheng Shi ◽  
Shuai Guo
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Adaptive Controller ◽  
Feedback Mechanism ◽  
Coefficient Of Determination ◽  
Effective Control ◽  
Rehabilitation Robot ◽  
Feedback Control Strategy ◽  
Energy Information

Based on evidence from the previous research in rehabilitation robot control strategies, we found that the common feature of the effective control strategies to promote subjects’ engagement is creating a reward–punishment feedback mechanism. This article proposes a reward–punishment feedback control strategy based on energy information. Firstly, an engagement estimated approach based on energy information is developed to evaluate subjects’ performance. Secondly, the estimated result forms a reward–punishment term, which is introduced into a standard model-based adaptive controller. This modified adaptive controller is capable of giving the reward–punishment feedback to subjects according to their engagement. Finally, several experiments are implemented using a wrist rehabilitation robot to evaluate the proposed control strategy with 10 healthy subjects who have not cardiovascular and cerebrovascular diseases. The results of these experiments show that the mean coefficient of determination ( R 2) of the data obtained by the proposed approach and the classical approach is 0.7988, which illustrate the reliability of the engagement estimated approach based on energy information. And the results also demonstrate that the proposed controller has great potential to promote patients’ engagement for wrist rehabilitation.

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