A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel

Fujita, Kou; Deng, Mingcong; Wakimoto, Shuichi

doi:10.3390/act6010006

Cited by 21 publications

(12 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The other parameters were the same as Table 1. Figures 12 and 13 show the result of output angle and the input pressure, and Figure 14 show the result of analysis on the robustness to uncertainty using Equations (15) and (16). As can be seen in Figure 12, the two outputs kept nearly 0 kPa and then, started rising up while the simulation in Figure 8 showed quick reaction.…”

Section: Resultsmentioning

confidence: 87%

See 1 more Smart Citation

Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows

2018

Self Cite

View full text Add to dashboard Cite

Abstract:Recently, many kinds of soft actuators composed of flexible materials, such as silicon rubber, have been studied in the mechatronics field with increasing attention on the artificial muscle in welfare, medical care and biotechnology. Particularly, pneumatic-driven soft actuator moves flexibly and works safely because of not electrical but pneumatic input, so that the actuator could perform effectively in the medical operations. A miniature pneumatic bending rubber actuator is a tiny pneumatic-driven soft actuator which has some chambers connected to only one tube providing compressed air and the chamber has bellows. This actuator can bend circularly in two directions and grab delicate objects such as fish eggs, by inputting pressure into its chambers. The actuator, however, has nonlinear property derived from elastomer in input-output relation. The actuator, therefore, sacrifices some degree of control performance instead of obtaining the passive flexibility to delicate objects. To solve the above problem, previous studies have shown, by the experiments, that the effectiveness of designing the nonlinear feedback control system using robust right coprime factorization based on the operator theory for control of the output angle of the actuator. However, the mathematical model used for designing the system caused modelling error because the bellows were not considered in deriving the model. The mathematical model should fit experimental value as well as possible for system design and there has been no example modelling of the micro hand having bellows. In this research, a new model of the micro hand considering its bellows with elastomer property is proposed. Moreover, a control system using the robust right coprime factorization based on the operator theory is designed for the new model. Finally, the effectiveness is shown in the experiment.

show abstract

Section: Resultsmentioning

confidence: 87%

“…Its tracking performance was verified by an experiment. Another study [16] proposed an appropriate control method for the actuator based on [12]. This study indicates that the redesigned system is more effective for tracking performance, by an experiment.…”

Section: Resultsmentioning

confidence: 92%

Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows

2018

Self Cite

View full text Add to dashboard Cite

show abstract

“…AI methods also have been used for estimating a model of soft actuators. A miniature pneumatic bending rubber actuator can be controlled without sensors by using support vector regression (SVR), which is one of the machine learning methods [ 7 , 10 ] and a regression machine that is extended from a support vector machine (SVM) [ 15 , 16 ]. SVR has a high generalization ability with few training data and is valid for a nonlinear model.…”

Section: Introductionmentioning

confidence: 99%

Recent Developments on Modeling for a 3-DOF Micro-Hand Based on AI Methods

Kawamura

Deng

2020

Micromachines

Self Cite

View full text Add to dashboard Cite

Recently, soft actuators have been expected to have many applications in various fields. Most of the actuators are composed of flexible materials and driven by air pressure. The 3-DOF micro-hand, which is a kind of soft actuator, can realize a three degrees of freedom motion by changing the applied air pressure pattern. However, the input–output relation is nonlinear and complicated. In previous research, a model of the micro-hand was proposed, but an error between the model and the experimental results was large. In this paper, modeling for the micro-hand is proposed by using multi-output support vector regression (MSVR) and ant colony optimization (ACO), which is one of the artificial intelligence (AI) methods. MSVR estimates the input–output relation of the micro-hand. ACO optimizes the parameters of the MSVR model.

show abstract

“…Pneumatic soft actuators mainly have a structure of tubes and balloons which show expanding and bending motions under air pressure. For example, there are McKibben pneumatic artificial muscle [1], a flexible micro actuator [2] and a miniature pneumatic bending rubber actuator [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator

et al. 2019

Self Cite

View full text Add to dashboard Cite

Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

show abstract

A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel

Cited by 21 publications

References 9 publications

Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows

Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows

Recent Developments on Modeling for a 3-DOF Micro-Hand Based on AI Methods

Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator

Contact Info

Product

Resources

About