Modeling and control of a curved pneumatic muscle actuator for wearable elbow exoskeleton

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

“…However, with a total weight of 10.1 kg, that system is significantly heavier than the system presented here. Pneumatic artificial muscles (PAMs) are known for their high power density, and are a common solution in wearable robotics [34], [35]. Nevertheless, the developed RAS is both more lightweight and smaller than a PAM-based solution with similar mechanical characteristics.…”

Static and dynamic characteristics of rehabilitation joint powered by pneumatic muscles

“…Figure 3 is the PMA's characteristic curves and it Generally, it is difficult to develop an accurate mathematical model of the PMA via academic analysis. This is due to the PMA's highly nonlinearities and the compressibility of air (Zhang et al, 2008). The representative static model of PM is developed by Chou and Hannaford (1996), but the error of their model is about 15 percent (Davis et al, 2003;Doumit et al, 2009).…”

Modeling of pneumatic artificial muscle using a hybrid artificial neural network approach

“…A few examples of the successful use of PAMs in mechatronic devices for rehabilitation purposes can be found in the literature. Applications in the form of an exoskeleton exist for upper limbs [1,2] lower limbs [3], hand [4], elbow [5], and the ankle joint [6].…”