Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Damme, Michaël Van; Beyl, Pieter; Vanderborght, Bram; Ham, Ronald Van; Vanderniepen, Innes; Versluys, Rino; Daerden, F.; Lefeber, Dirk

doi:10.1109/ramech.2008.4681431

Cited by 39 publications

(22 citation statements)

References 32 publications

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“…For an accurate hysteresis loop model of a PAM, Van Damme et al [13] used a Preisach model for the hysteresis in a pleated PAM. The weighted superposition of elementary relay hystereses represents the output of the Preisach model.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl–Ishlinskii model

et al. 2015

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Section: Introductionmentioning

confidence: 99%

Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl–Ishlinskii model

et al. 2015

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“…Subsequent research on this matter shows, that a hysteresis behaviour of the PAMs has been ascertained in [12] and [19]. It is demonstrated that the tube's rubber shell does not only deform elastically, but also plastically.…”

Section: Discussionmentioning

confidence: 95%

Design and control of a robotic wrist orthosis for joint rehabilitation

Meng

Sheng

Klinger

et al. 2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-Ageing society in many countries has led to an increasing number of stroke and cerebral palsy patients who require rehabilitation therapy. Affected wrist joints often show an increased spasticity and stiffness, caused by impairments of surrounding muscles and tendons. However, the medical devices for wrist joint assessment and rehabilitation are lacking. This paper proposes a robotic orthosis to assist the patient's wrist to perform rehabilitation exercise in a compliant way. A 1-DOF robotic device with parallel mechanism is designed for the wrist joint by utilising pneumatic artificial muscles (PAMs) that are compliant and lightweight. The mechanical design of the wrist orthosis and the corresponding development of pneumatic control system will be also presented. A model-based pressure close-loop control strategy is implemented for the PAMs in order to track the trajectory in high-performance. Experiments on the orthosis demonstrated that the robot could assist the hand to move along a torque-sensitive trajectory with relatively small errors and the differential forces were also kept stable.

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“…Kwok et al (2007) established a hysteresis model based on hyperbolic tangent non-linear function to improve the model precision of magnetorheological fluid dampers. Van Damme et al (2008) proposed a Preisach based hysteresis model to solve the specific shape of the force-contraction characteristic of pneumatic muscles. Ruderman et al (2009) designed a novel approach which combines distributed Preisach model and generalized MaxwellSlip friction model to explore elastic robot joints with hysteresis and backlash.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis analysis of a notched continuum manipulator driven by tendon

Yang

Dong

et al. 2018

Mech. Sci.

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Abstract. Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc-Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean of genetic algorithm (GA). Hysteresis phenomenon of the mentioned manipulator is actually caused by many factors such as the hysteresis property of Hyperelastic Nitinol Alloy (HNA), the elastic deformation of tendon and the friction between the tendon and the tube. The results of both static and dynamic experiments show that the introduced hysteresis model can eliminate the positional difference between forward and reverse bending processes, and thus improve the forecast precision of deformation during motion. This model can also be used to compensate modelling errors caused by hysteresis of other similar systems.

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Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Cited by 39 publications

References 32 publications

Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl–Ishlinskii model

Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl–Ishlinskii model

Design and control of a robotic wrist orthosis for joint rehabilitation

Hysteresis analysis of a notched continuum manipulator driven by tendon

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