Mechanical equilibrium model of rubberless artificial muscle and application to position control of antagonistic drive system

Saito, Naoki; Sato, Takanori; Ogasawara, Takanori; Takahashi, Rion; Sato, Toshiyuki

doi:10.1108/01439911311320859

Cited by 12 publications

(6 citation statements)

References 20 publications

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“…Hence, the second synthetic hydraulic fluid compatible material tested was a LDPE bag. One study has reported the use of rubber-less artificial muscles, and it utilized an aluminum vapor deposition polyester sheet for the bladder (Saito et al, 2013). Additionally, this group did not attach one end of the bladder to the other side of the muscle and ran them to a maximum pressure of only 1 bar.…”

Section: Bladder Materialsmentioning

confidence: 99%

Reconsidering the McKibben muscle: Energetics, operating fluid, and bladder material

Meller

Bryant

Garcia

2014

Journal of Intelligent Material Systems and Structures

112

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In spite of extensive modeling and characterization efforts, little is known about the energetics of McKibben muscle actuators. This article experimentally investigates the effectiveness of traditional McKibben muscles at converting fluid energy delivered to the actuator to mechanical output work over full actuation cycles. Once these efficiency metrics are established, a comparison of the efficiencies of traditional pneumatic fluidic artificial muscles and hydraulic fluidic artificial muscles is presented. Two new hydraulic oil compatible bladder materials are tested-an elastomeric Viton bladder and an inelastic low-density polyethylene bladder. The performance of these muscle variants is compared by measuring blocked force and free contraction as a function of pressure, hysteresis, and energy efficiencies. The measurement of fluid volume delivered to the fluidic artificial muscles over their actuation ranges is shown to be useful for evaluating the accuracy of existing cylindrical volume models. Models of the energy conversion efficiency are developed and compared to the experimental data. The results show that using an inelastic bladder significantly improves the efficiency, force capacity, and contraction range of McKibben muscles; however, it also increases the actuator's hysteretic behavior. Powering the muscles hydraulically and operating at higher pressures improves the efficiency as well.

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Section: Bladder Materialsmentioning

confidence: 99%

Reconsidering the McKibben muscle: Energetics, operating fluid, and bladder material

Meller

Bryant

Garcia

2014

Journal of Intelligent Material Systems and Structures

112

View full text Add to dashboard Cite

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“…Here, the relation between the antagonistic force F A and the antagonistic position x, which is necessary to achieve the target stiffness K sys , is derived as follows by substituting (3) and (4) for (11).…”

Section: Mathematical Model Of Stiffness Of the Systemmentioning

confidence: 99%

“…However, no study has sufficiently examined how to set passive stiffness characteristics or how to measure actual stiffness characteristics when the position of the antagonistic drive system using an artificial muscle is controlled. Therefore, this study examines an antagonistic drive system using rubberless artificial muscle [11] to elucidate position control with passive stiffness. For this study, we derive a model of the rubberless artificial muscle as a variable stiffness element based approximately on isometric contraction characteristics.…”

Section: Introductionmentioning

confidence: 99%

Position control considering passive stiffness of rubberless artificial muscle antagonistic drive system

Saito

Yamadaira

Satoh

2015

2015 IEEE Conference on Systems, Process and Control (ICSPC)

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This paper describes position control considering passive stiffness of an antagonistic drive system using a rubberless artificial muscle. The rubberless artificial muscle is a pneumatic actuator similar to a McKibben type artificial muscle. The artificial muscle has a passive compliance characteristic that varies with inner pressure. Therefore, the antagonistic drive system can control the antagonistic position with tuning of passive compliance characteristics. As described in this paper, the system can be either rigid or soft according to the compliance characteristic of the actuator. As described herein, this study confirms the variable stiffness characteristic of the rubberless artificial muscle. Furthermore, a mathematical model is derived to show the relation between the passive stiffness and antagonistic force of the system. This report then explains the contraction displacement linearization system (CDLS), which decides the inner pressure based on the contraction displacement and contraction force. The CDLS performs linearization of the nonlinear characteristics of contraction displacement. The possibility of realizing the antagonistic position control with tuning passive stiffness of the antagonistic drive system was confirmed experimentally.

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“…In contrast, the actuator has nonlinearities due to the effects of hysteresis, intrinsic to elastomers, presence of dead band and nonlinear Coulomb friction. The nonlinearities of the muscle added to the manipulator's kinematic and dynamics equations make the position tracking complex (Tondu and Lopez, 1997;Bogue, 2012;Saito et al, 2013;Kobayashi and Ito, 2015;Irshaidat et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

A new approach for hybrid (PID + MRAC) adaptive controller applied to two-axes McKibben muscle manipulator: a mechanism for human-robot collaboration

Bomfim

Lima

Monteiro

et al. 2021

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Purpose This paper aims to present a new approach, called hybrid model reference adaptive controller or H-MRAC, for the hybrid controller (proportional-integral-derivative [PID + MRAC]) that will be used to control the position of a pneumatic manipulator. Design/methodology/approach It was developed a McKibben muscle using nautical mesh, latex and high-density polyethene connectors and it was constructed an elbow manipulator with two degrees of freedom, driven by these muscles. Then it was presented the H-MRAC control law based on the phenomenological characteristics of the plant, aiming at fast response and low damping. Lyapunov's theory was used as the project methodology, which ensures asymptotic stability for the control system. Findings It was developed a precise control system for a pneumatic manipulator and the results were compared to previous research. Research limitations/implications In collaborative robotics, human and machine occupy the same workspace. This research promotes the development of safer and more complacent mechatronic systems in the event of collisions. Practical implications As a practical implication, the research allows the substitution of electric motors by McKibben muscles in industrial robots with high accuracy. Social implications The pneumatic manipulator will make the human-robot physical interaction safer as it can prevent catastrophic collisions causing victims or equipment breakdown. Originality/value When compared to results in the literature, the present research showed a 37.51% and 36.74% lower global error in position tracking than MRAC and Adaptive proportional-integral-derivative (A-PID), respectively, validating its effectiveness.

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Mechanical equilibrium model of rubberless artificial muscle and application to position control of antagonistic drive system

Cited by 12 publications

References 20 publications

Reconsidering the McKibben muscle: Energetics, operating fluid, and bladder material

Reconsidering the McKibben muscle: Energetics, operating fluid, and bladder material

Position control considering passive stiffness of rubberless artificial muscle antagonistic drive system

A new approach for hybrid (PID + MRAC) adaptive controller applied to two-axes McKibben muscle manipulator: a mechanism for human-robot collaboration

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