Experimental Modeling of Pneumatic Muscle Actuator

Al-Ibadi, Shahad AbdulAdheem; Al-Abeach, Loai A. T.; Al-Ibadi, Mohammed A.

doi:10.1109/iiccit55816.2022.10010663

Cited by 1 publication

(2 citation statements)

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“…Contractor and Extensor muscle actuators are two types of McKibben's muscles that were experimentally evaluated for their mechanical behavior and performance. This mathematical model study compares and empirically tests the characteristics of the two types [74]. Finding techniques and adaptive models that are computationally practical and accurate to experimental values is one of the most significant challenges facing soft robotics in the future.…”

Section: Define the Shape Of Soft Actuators And The Variables Of Defo...mentioning

confidence: 99%

“…As a result, this study is the first goal of the ongoing thesis, which is to develop a soft robot end-effector. On the other hand, one of the outcomes of the thesis was the study of the properties of pneumatic muscle actuators to create a mathematical model for the functioning of these actuators [74]. When powered by pneumatic muscle actuators, this end effector produces physically supple end effects allowing secure contact with people.…”

Section: Introductionmentioning

confidence: 99%

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Soft Robots: Implementation, Modeling, and Methods of control

Al-Ibadi

Abeach

Al-Ibadi

2023

IJEEI

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Soft robotics is a branch of robotics focusing on technologies with physical features like those of live biological creatures. Additionally, they have many details that are hard, if not impossible, to realize with traditional robots composed of solid materials. This study concentrates on the current expansion of soft pneumatic actuators for modern soft robotics in recent years, emphasizing three areas: Implementation of soft robots, Modeling, and Methods of control systems. Therefore, numerous soft robotic designs and ways to make them suitable for medical, manufacturing, and agricultural applications have been presented. Moreover, functional and technological aspects have been given to review models similar to human hand functionality and motions. To realize the advanced soft robotic manipulation function, robotic hands must be equipped with tactile sensing, which is required to provide continuous data on the volume and direction of forces at all contact locations. The research examines achievements in material science, actuation, sensing techniques, manufacturing technologies, and how to model and control a soft robot's motion, which is scientifically challenging and, more importantly, practical.

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Section: Define the Shape Of Soft Actuators And The Variables Of Defo...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%