scholarly journals Control of a Rehabilitation Robotic Device Driven by Antagonistic Soft Actuators

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 123
Author(s):  
Haozhen Chi ◽  
Hairong Su ◽  
Wenyu Liang ◽  
Qinyuan Ren
Keyword(s):  
Artificial Muscle ◽  
Robotic Device ◽  
Control Approach ◽  
Output Force ◽  
Musculoskeletal Structure ◽  
Soft Actuators ◽  
Data Driven Modeling ◽  
Adaptive Feedforward ◽  
Rehabilitation Robotic ◽  
Large Output

Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training and treatment of rehabilitation. Due to the compliance and continuous deformation capacity, rehabilitation devices driven by soft actuators are attached to widespread attention. Considering the large output force of pneumatic artificial muscle (PAM) and the biological musculoskeletal structure, an antagonistic PAM-driven rehabilitation robotic device is developed. To fulfill the need for control of the proposed device, a knowledge-guided data-driven modeling approach is used and an adaptive feedforward–feedback control approach is presented to ensure the motion accuracy under large deformation motion with high frequency. Finally, several simulations and experiments are carried out to evaluate the performance of the developed system, and the results show that the developed system with the proposed controller can achieve expected control performance under various operations.

Design and fabrication of an electro-thermal linear motor with large output force and displacement

2016 ◽  
Author(s):  
Tengjiang Hu ◽  
Yulong Zhao ◽  
Xiuyuan Li ◽  
You Zhao ◽  
Yingwei Bai
Keyword(s):  
Linear Motor ◽  
Output Force ◽  
Large Output

scholarly journals Quantifying age-related differences in human reaching while interacting with a rehabilitation robotic device

2010 ◽  
Vol 7 (4) ◽  
pp. 289-299 ◽  
Author(s):  
Vivek Yadav ◽  
James P. Schmiedeler ◽  
Sharon McDowell ◽  
Lise Worthen-Chaudhari
Keyword(s):  
Robotic Device ◽  
Age Related ◽  
Rehabilitation Robotic

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Moon Kim ◽  
Youngeun Kim ◽  
Sang Yul Yang ◽  
Hyouk Ryeol Choi
Keyword(s):  
Artificial Muscle ◽  
Operating Mode ◽  
Robotic Arm ◽  
Soft Actuator ◽  
Wearable Robots ◽  
Working Principle ◽  
Linear Actuators ◽  
Soft Actuators ◽  
Muscle Actuators ◽  
Further Development

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

Programmed Deformations of 3D-Printed Tough Physical Hydrogels with High Response Speed and Large Output Force

2018 ◽  
Vol 28 (37) ◽  
pp. 1803366 ◽  
Author(s):  
Si Yu Zheng ◽  
Yangyang Shen ◽  
Fengbo Zhu ◽  
Jun Yin ◽  
Jin Qian ◽  
...  
Keyword(s):  
Response Speed ◽  
High Response ◽  
Output Force ◽  
3D Printed ◽  
Large Output

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

Design and Modeling of a New Inchworm Linear Motor

2012 ◽  
Vol 562-564 ◽  
pp. 603-606
Author(s):  
Qi Wang ◽  
Bin Tang Yang ◽  
Lan Tao Liu ◽  
Guang Meng
Keyword(s):  
Research Work ◽  
Linear Motor ◽  
Quick Response ◽  
Parameter System ◽  
Cam Mechanism ◽  
Lumped Parameter ◽  
Output Force ◽  
Optimal Contour ◽  
Large Output ◽  
General Dynamic

This paper presents a research work for the design and modeling of a new inchworm linear motor. The three actuators of the motor are based on electromagnetic and permanent magnetic combined drive. The actuator may generate large output force, large displacement and quick response. A permanent magnet cam is designed to realize the continuous and smooth movement for the actuator. The motion equation of the cam mechanism is established and analyzed by SIMULINK from which the optimal contour of the cam may be confirmed. Then the general dynamic model of the linear motor is established with a 4DOF lumped parameter system.

Simultaneous Force and Stiffness Control of a Pneumatic Actuator

2007 ◽  
Vol 129 (4) ◽  
pp. 425-434 ◽  
Author(s):  
Xiangrong Shen ◽  
Michael Goldfarb
Keyword(s):  
Dynamic Range ◽  
Variable Stiffness ◽  
Pneumatic Actuator ◽  
Force Output ◽  
New Approach ◽  
Control Approach ◽  
Simultaneous Control ◽  
Output Force ◽  
Maximum Minimum ◽  
Series Elastic

This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series elastic component can be modulated independently of the actuator output force. Based on this notion, the authors propose a control approach for the simultaneous control of actuator output force and stiffness. Since the achievable output force and stiffness are coupled and configuration-dependent, the authors also present a control law that provides either maximum or minimum actuator output stiffness for a given displacement and desired force output. The general control and maximum/minimum stiffness approaches are experimentally demonstrated and shown to provide high fidelity control of force and stiffness, and additionally shown to provide a factor of 6 dynamic range in stiffness.

LINEAR ELECTROMAGNETIC ARRAY ARTIFICIAL MUSCLE DESIGN AND SIMULATION FOR A QUADRUPED ROBOT

2017 ◽  
Vol 17 (07) ◽  
pp. 1740020
Author(s):  
JING LI ◽  
WEI ZHANG ◽  
YANLONG ZHANG ◽  
JING BAI ◽  
ZHANXI WANG ◽  
...  
Keyword(s):  
Skeletal Muscle ◽  
Neural Control ◽  
Artificial Muscle ◽  
Control Model ◽  
Quadruped Robot ◽  
Control Mode ◽  
Array Type ◽  
Output Force ◽  
Muscle Nerve ◽  
Force Displacement

A linear electromagnetic array-type artificial muscle structure and its biological neural control model are proposed to improve the multiped robot driving performance. From the standpoint of engineering bionics, based on the microstructure of skeletal muscle, the simplified array mode of skeletal muscle and the linear electromagnetic array artificial muscle are proposed. And in order to calculate the output force displacement performance of the artificial muscle actuator, an artificial muscle nerve stimulation conduction control mode is designed by simulating the biological neural control model. Taking a quadruped robot as the application object, the dynamic characteristics of the artificial muscle are simulated and successfully verified.

The Double-Station Fixture Based on Air-Liquid and Air-Liquid-Mechanical Composite Transmission Technology and its Application in Press

2011 ◽  
Vol 121-126 ◽  
pp. 1372-1376
Author(s):  
Kang Min Zhong ◽  
Ying Hua Xiao ◽  
Ming Di Wang
Keyword(s):  
High Efficiency ◽  
Innovative Design ◽  
Order Processing ◽  
Output Force ◽  
Comparative Advantages ◽  
Large Output

When adopting the air-liquid and air-liquid-mechanical composite transmission technology, the comparative advantages of various transmission techniques can be played, while their shortcomings can be avoided. The efficient fixture and press with double-station based on these composite transmission technology are introduced, and their working principles and mechanical formulas are given out. The innovative design of the fixture and press with double station can achieve the two station order-processing operations when only using one drive cylinder, which have high efficiency, the large output force, and will not pollute the environment.

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