Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

Doumit, Marc; Fahim, A.; Munro, M.

doi:10.1109/tro.2009.2032959

Cited by 100 publications

(67 citation statements)

References 10 publications

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“…In contrast to EM, there is no comprehensive dynamic model of PAM predicting relation between the muscle force, position and pressure [20,[23][24][25][26][27][28]. Chou et al [23] proposed an experiment-based static model containing only position and pressure term which is not suitable for a dynamic motion.…”

Section: Pam Identification Setupmentioning

confidence: 99%

Electric-Pneumatic Actuator: A New Muscle for Locomotion

et al. 2017

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Abstract:A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) and an electric motor (EM). In contrast to other VIAs, the pneumatic artificial muscle (PAM) within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel) to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power) and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot) show improved efficiency of the actuator at different frequencies.

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Section: Pam Identification Setupmentioning

confidence: 99%

Electric-Pneumatic Actuator: A New Muscle for Locomotion

et al. 2017

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“…The length of the PMA was modelled geometrically by Doumit, M., et al [14]; the formula length depends on the length of the braided strand, diameter, braided angle, and number of strand turns. Al-Ibadi, A. et al [12] formulated the length of the contraction actuators as a sigmoidal function depending on the applied pressure and initial length.…”

Section: Introductionmentioning

confidence: 99%

Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion

2018

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This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizontal and vertical movements of the actuator distal ends. The kinematics for the proposed actuator are illustrated and experiments conducted to validate its unique features. Furthermore, a continuum robot arm with the ability to move in parallel (horizontal displacement) is designed with a single DB-PMA and a two-finger soft gripper. The performance of the soft robot arm presented is explained, then another design of the horizontal motion continuum robot arm is proposed, using two self-bending contraction actuators (SBCA) in series to overcome the payload effects on the upper half of the soft arm.

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“…Based on these characteristics, the application in rehabilitation field has been studied and many rehabilitation robots using pneumatic muscles as actuators have been developed [4]. However, due to the flexible rubber material, friction of woven web [5], nonlinear of compressed air and the uncertainty of robot model, the robot control system is very complex with strong nonlinearity and parts of time-varying parameters [6]. Fig.…”

Section: Introductionmentioning

confidence: 99%

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang

et al. 2017

Lecture Notes in Computer Science

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Abstract. Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

Cited by 100 publications

References 10 publications

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

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