scholarly journals Position Control Experiments of McKibben Pneumatic Artificial Muscle Using Contraction Ratio Estimation

2017 ◽  
Vol 53 (11) ◽  
pp. 567-573
Author(s):  
Kouichirou YOKOYAMA ◽  
Kiminao KOGISO
Keyword(s):  
Position Control ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Ratio Estimation ◽  
Contraction Ratio

Operating Modes of Pneumatic Artificial Muscle Actuator

2013 ◽  
Vol 308 ◽  
pp. 39-44 ◽  
Author(s):  
Mária Tóthová ◽  
Ján Piteľ ◽  
Jana Boržíková
Keyword(s):  
Position Control ◽  
Artificial Muscle ◽  
Pneumatic Actuator ◽  
Variable Pressure ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Operating Modes ◽  
Main Requirement ◽  
Pneumatic Artificial Muscles ◽  
Operation Characteristics

The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.

scholarly journals Pneumatic Artificial Muscle Based on Novel Winding Method

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 100
Author(s):  
Disheng Xie ◽  
Zhuo Ma ◽  
Jianbin Liu ◽  
Siyang Zuo
Keyword(s):  
Artificial Muscle ◽  
Force Model ◽  
Maximum Output ◽  
Pneumatic Artificial Muscle ◽  
Ratio Model ◽  
Wearable Robots ◽  
Contraction Ratio ◽  
Output Force

This paper proposes a pneumatic artificial muscle based on a novel winding method. By this method, the inflation of silicone tubes is transformed to the contraction of muscle, whereas the expansion keeps on one side of the muscle, i.e., the expansion of the actuator does not affect the object close to it. Hence the muscle is great for wearable robots without squeezing on the user’s skin. Through necessary simplification, the contraction ratio model and force model are proposed and verified by experiments. The prototype of this paper has a maximum contraction ratio of 35.8% and a maximum output force of 12.24 N with only 5 mm thickness. The high compatibility proves it excellent to be the alternative for wearable robots.

scholarly journals Sliding mode control of pam actuator in LabVIEW environment

2010 ◽  
Vol 5 (1-2) ◽  
pp. 249-253
Author(s):  
János Gyeviki ◽  
József Sárosi ◽  
Antal Véha ◽  
Péter Toman
Keyword(s):  
Flow Rate ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Industrial Applications ◽  
Pneumatic Artificial Muscle ◽  
Air Mass ◽  
Pneumatic Muscle ◽  
Position Controller

As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.

A Novel Soft Pneumatic Artificial Muscle with High-Contraction Ratio

Soft Robotics ◽  
2018 ◽  
Vol 5 (5) ◽  
pp. 554-566 ◽  
Author(s):  
Kwanghyun Han ◽  
Nam-Ho Kim ◽  
Dongjun Shin
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Contraction Ratio
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