Modeling and control of an intrinsic continuum robot actuated by pneumatic artificial muscles

2016 ◽  
Author(s):  
Bong-Soo Kang ◽  
Edward J. Park
Keyword(s):  
Artificial Muscles ◽  
Modeling And Control ◽  
Continuum Robot ◽  
Pneumatic Artificial Muscles ◽  
And Control

Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls

2011 ◽  
Vol 186 ◽  
pp. 31-35 ◽  
Author(s):  
Fei Li ◽  
Yu Wang ◽  
He Ting Tong ◽  
Ray P.S. Han
Keyword(s):  
Mechanical Properties ◽  
Skeletal Muscle ◽  
High Power ◽  
Weight Ratio ◽  
Artificial Muscles ◽  
Mechanical Behaviors ◽  
Pneumatic Artificial Muscles ◽  
Powered Exoskeleton ◽  
And Control ◽  
Continuous Working

As a skeletal muscle-like actuator, PAM possesses many unique advantages. They include compliance and high power-to-weight ratio, which make it an ideal actuator for robotic and powered exoskeleton applications. But its flexible braided mesh shell and the compressibility of air make PAM much more difficult to model and control compared to traditional actuators. In this work, the mechanical properties of the McKibben PAM produced by Festo are examined, tested and discussed. The results demonstrate the muscle-like property of PAM and its strong non-linear and hysteresis behaviors. A simple law between the areas of the hysteresis and pressure is proposed, and the relationships of the areas of the hysteresis, external load and the continuous working time are studied. Further, changing the PAM length that is smaller than 0.4 mm may lead to the “crawl” phenomenon. Finally, the empirical results can be used in compensation-based controls of the hysteresis in the McKibben PAM.

Modeling and Control of Fishing-Line/Sewing-Thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs)

2019 ◽  
pp. 581-596
Author(s):  
Kentaro Takagi ◽  
Norihiro Kamamichi ◽  
Ken Masuya ◽  
Kenji Tahara ◽  
Toshihira Irisawa ◽  
...  
Keyword(s):  
Polymer Fibers ◽  
Artificial Muscles ◽  
Modeling And Control ◽  
Sewing Thread ◽  
And Control

scholarly journals Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 176883-176894
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Modeling And Control ◽  
Continuum Robot ◽  
And Control

scholarly journals Reverse pneumatic artificial muscles (rPAMs): Modeling, integration, and control

PLoS ONE ◽  
2018 ◽  
Vol 13 (10) ◽  
pp. e0204637 ◽  
Author(s):  
Erik H. Skorina ◽  
Ming Luo ◽  
Wut Yee Oo ◽  
Weijia Tao ◽  
Fuchen Chen ◽  
...  
Keyword(s):  
Artificial Muscles ◽  
Pneumatic Artificial Muscles ◽  
And Control
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