A study of pneumatic muscle technology for possible assistance in mobility

Repperger, D.W.; Phillips, Carol A; Johnson, D.C.; Harmon, R.D.; Johnson, Kevin

doi:10.1109/iembs.1997.758701

Cited by 23 publications

(13 citation statements)

References 3 publications

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“…Treating air as a perfect gas the capacitance for air can be obtained with the gas law [21]. At a temperature of 25°C (298 K) and at a volume of 0.4 l (max contraction 20%) yields: 9 0.0004 4*10 / 287 * 298 air air…”

Section: B Bandwidthmentioning

confidence: 99%

“…For pneumatic powered robots also pneumatic artificial muscles (PAMs) are used in different applications such as walking robots (Lucy [7]), mobility enhancement and rehabilitation [9,10], manipulation (like Softarm [8]). An important difference with respect to a classic linear cylinder is that in the PAM position control is carried out by pressure control (generally more efficient) rather than by flow control as in hydraulic cylinders.…”

Section: Introductionmentioning

confidence: 99%

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Water/air performance analysis of a fluidic muscle

Focchi

Semini

Parmiggiani

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper deals with a comparative study on using water and air as actuation means for the control of a fluidic muscle (designed for air) and assesses the performance, particularly from a dynamic and energetic point of view. A medium with higher bulk modulus such as oil/water is believed to increase pressure and force bandwidths and reduce sensitivity to load variations, as is the case with conventional hydraulic stiff actuation systems. However in this application the inherent flexibility of the muscle plays a major role. Water has been chosen because of its non-flammability, environmental friendliness and the low solubility of air in it. The operating pressure range of the pneumatic muscle is 0-6 bar (typical range of a pneumatic system) that is well below typical operating pressures of hydraulic systems (typically over 100 bar). At such low pressures the dynamic behaviour of water is less predictable because of the higher likelihood of entrapped air in the water which physically occurs when operating at low pressures. This can majorly affect water bulk modulus and hence its dynamic performance. Therefore, the behaviour of the system in this unconventional pressure range for a liquid must be more thoroughly investigated. Theoretical and experimental analyses on a dedicated test rig have been carried out to assess these assumptions.

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Section: B Bandwidthmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Water/air performance analysis of a fluidic muscle

Focchi

Semini

Parmiggiani

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…So far, McKibben actuators have been configured for a variety of functions using different kinematic arrangements for example as antagonistic actuator pairs (Reynolds et al, 2003). Various models of the pneumatic actuator have been proposed over the years (Chou and Hannaford, 1996;Klute, 2000;Klute et al, 1999;Repperger et al, 1997;Reynolds et al, 2003;Schulte, 1961;Nakamura et al, 2003). These actuators have been chiefly investigated for applications in robotics, prosthetics, and orthotics (Kopecny, 2003;Mangan et al, 2002;Mangan et al, 2005;Takuma et al, 2004;Vaidyanathan et al, 2000).…”

Section: Introductionmentioning

confidence: 97%

A mathematical model for cylindrical, fiber reinforced electro-pneumatic actuators

Goulbourne

2009

International Journal of Solids and Structures

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a b s t r a c tIn recent years, dielectric elastomers have received increasing attention due to their unparalleled large strain actuation response (>100%). The force output, however, has remained a major limiting factor for many applications. To address this limitation, a model for a fiber reinforced dielectric elastomer actuator based on the deformation mechanism of McKibben actuators is presented. In this novel configuration, the outer cylindrical surface of a dielectric elastomer is enclosed by a network of helical fibers that are thin, flexible and inextensible. This configuration yields an axially contractile actuator, in contrast to unreinforced actuators which extend. The role of the fiber network is twofold: (i) to serve as reinforcement to improve the load-bearing capability of dielectric elastomers, and (ii) to render the actuator inextensible in the axial direction such that the only free deformation path is simultaneous radial expansion and axial contraction. In this paper, a mathematical model of the electromechanical response of fiber reinforced dielectric elastomers is derived. The model is developed within a continuum mechanics framework for large deformations. The cylindrical electro-pneumatic actuator is modeled by adapting Green and Adkins' theory of reinforced cylinders to account for the applied electric field. Using this approach, numerical solutions are obtained assuming a Mooney-Rivlin material model. The results indicate that the relationship between the contractile force and axial shortening is bilinear within the voltage range considered. The characteristic response as a function of various system parameters such as the fiber angle, inflation pressure, and the applied voltage are reported. In this paper, the elastic portion of the modeling approach is validated using experimental data for McKibben actuators.

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“…For example, Repperger, et al, (1997) performed static and dynamic tests on a pneumatic muscle actuator system to identify its nonlinear characteristics and to incorporate them into a force control algorithm. Chou et al (1996) developed a linearized model of the McKibben artificial muscle pneumatic actuator.…”

Section: List Of Illustrationsmentioning

confidence: 99%

Development of High Performance Pneumatic Muscle Actuator Systems

Purasinghe¹,

Feng²,

Shinozuka³

1999

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A study of pneumatic muscle technology for possible assistance in mobility

Cited by 23 publications

References 3 publications

Water/air performance analysis of a fluidic muscle

Water/air performance analysis of a fluidic muscle

A mathematical model for cylindrical, fiber reinforced electro-pneumatic actuators

Development of High Performance Pneumatic Muscle Actuator Systems

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