scholarly journals Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

10.5772/48814 ◽  
2012 ◽  
Author(s):  
R.K. Jain ◽  
S. Datta ◽  
S. Majumder
Keyword(s):  
Artificial Muscle ◽  
And Control

scholarly journals CONTROL NOVEL MODEL OF KNEE CPM DEVICE

2009 ◽  
Vol 12 (4) ◽  
pp. 18-29
Author(s):  
Thanh Diep Cong Tu
Keyword(s):  
Weight Ratio ◽  
Artificial Muscle ◽  
Network Control ◽  
Continuous Passive Motion ◽  
The Novel ◽  
Highly Nonlinear ◽  
Cord Injury ◽  
And Control ◽  
Novel Model ◽  
Interesting Alternative

In recent years, CPM - Continuous Passive Motion has been proved to be one of the most effective therapeutic methods for patients who have problems with motion such as spinal cord injury, ankle and knee injury, parkinson and so on. Many commercial CPM devices are found in market but all of them use motors as the main actuators. The lack of human compliance of electric actuators, which are commonly used in these machines, makes them potentially harmful to patients. An interesting alternative, to electric actuators for medical purposes, particularly promising for rehabilitation, is a pneumatic artificial muscle (PAM) actuator because of its high power/weight ratio and compliance properties. However, the highly nonlinear and hysteresis of PAM make it the challenging for design and control. In this study, a PID compensation using neural network control is studied to improve the control performance of the novel model of Knee CPM device.

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.

Wearable Power Assist Device for Standing Up Motion Using Pneumatic Rubber Artificial Muscles

2007 ◽  
Vol 19 (6) ◽  
pp. 619-628 ◽  
Author(s):  
Toshiro Noritsugu ◽  
◽  
Daisuke Sasaki ◽  
Masafumi Kameda ◽  
Atsushi Fukunaga ◽  
...  
Keyword(s):  
Elderly Population ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
User Friendliness ◽  
Assist Device ◽  
Birth Rates ◽  
Standing Up ◽  
Basic Features ◽  
User Friendly ◽  
And Control

As society ages and birth rates fall, the dropping number of caregivers for an increasingly elderly population is expected to become a serious problem, raising the need for devices to assist those having difficulty in leading independent lives. These devices must be used near or directly on their users, making safety and user-friendliness equally important. This raises the need for safe, user-friendly actuators that are compact, lightweight, and appropriately soft. The pneumatic rubber artificial muscle meets this requirement. We developed a wearable power assist device that aids people in standing and uses the McKibben pneumatic rubber artificial muscle. We discuss its structure, basic features, and control. We also present an example of its application to rehabilitation.

204 Modeling and Control of Pneumatic Artificial Muscle Actuator

2008 ◽  
Vol 2008.83 (0) ◽  
pp. _2-4_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Hiroto KAN ◽  
Shinya NISHINO ◽  
Tatsuwo KUDAWARA ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Modeling And Control ◽  
And Control

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part One—Design Process

2011 ◽  
Author(s):  
Garrett Waycaster ◽  
Sai-Kit Wu ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Controller Design ◽  
Artificial Muscle ◽  
The Other ◽  
Robotic Systems ◽  
Pneumatic Artificial Muscle ◽  
Actuation System ◽  
Torque Curve ◽  
System Part ◽  
New Feature ◽  
And Control

This paper describes the design and control of a compact and flexible pneumatic artificial muscle (PAM) actuation system for bio-robotic systems. The entire paper is divided into two parts, with the first part covering the mechanism design and the second part covering the corresponding controller design. This novel system presented in this part incorporates two new features, including a variable-radius pulley based PAM actuation mechanism, and a spring-return mechanism to replace the PAM in the “weak” direction. With the pulley radius as a function of the joint angle, this new feature enables the designer to freely modulate the shape of the torque curve, and thus achieves a significantly higher flexibility than the traditional configuration. The other new feature, the spring-return mechanism, is inspired by the fact that a large number of bio-robotic systems require a significantly larger torque in one direction than the other.

scholarly journals 2A2-J03 Modelling and Control of Two link mechanism Driven by Pneumatic Artificial Muscle Actuator(Mechanism and Control for Actuator)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-J03_1-_2A2-J03_4
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Tomoyuki MIZUNO ◽  
Masashi KIMURA ◽  
Hiroyuki KOJIMA ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Link Mechanism ◽  
And Control

Design and Control of a Shape Memory Alloy Wire Bundle Actuator

2000 ◽  
Author(s):  
Michael J. Mosley ◽  
Constantinos Mavroidis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Artificial Muscle ◽  
Linear Displacement ◽  
Nickel Titanium ◽  
Input Shaping ◽  
Joint Rotation ◽  
Revolute Joint ◽  
And Control ◽  
Robotic Applications

Abstract In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf (445 N), which is approximately 300 times its weight, over a maximum distance of 0.5 in. (1.27 cm). The actuator was tested in two different loading configurations — linear displacement and operation of a revolute joint. A PID based controller with the addition of an input shaping function was developed for each loading configuration with excellent results, maintaining steady state error within ± 0.004 in. (0.1 mm) for linear motion and ± 1° for revolute joint rotation. This powerful, compact, and lightweight actuator shows promise for use in space, medical, and other macro-robotic applications.

Motion Planning and Control of Artificial Muscle Actuated Underwater Vehicle Using Nonlinear Neural Oscillator

2007 ◽  
Author(s):  
Joon Soo Lee ◽  
Woosoon Yim ◽  
Kwang J. Kim
Keyword(s):  
Motion Planning ◽  
Controller Design ◽  
Artificial Muscle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Neural Oscillator ◽  
Aquatic Environments ◽  
Metal Composite ◽  
Planning And Control ◽  
And Control

In this paper, we introduce the motion planning and control strategy for the underwater vehicle actuated by a soft artificial muscle actuator. The artificial muscle used for this underwater application is an Ionic Polymer Metal Composite (IPMC) which can generate bending motion in aquatic environments. In this research, the double ring structured nonlinear neural oscillator is proposed for the undulatory motion in the actuator. The overall dynamic model of the flexible IPMC actuator including its fluid interaction terms is used for the motion planning and open-loop controller design. The IPMC used in this study is a patterned or segmented type where the electrode surface of the actuator is encoded such that each segment can be controlled independently for effectively generating an undulatory motion in the water. Computer simulations show that the proposed neural oscillator based controller can be effectively used for the underwater locomotion applications, and can be extended to the closed-loop controller where the precise maneuver is needed in the unstructured aquatic environments.

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