Pneumatic Artificial Muscle Based on Novel Winding Method

Xie, Disheng; Ma, Zhuo; Liu, Jianbin; Zuo, Siyang

doi:10.3390/act10050100

Cited by 11 publications

(4 citation statements)

References 27 publications

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“…Moreover, 𝑃 1 , 𝑃 2 here are the cylinder chambers' absolute pressures and other properties like 𝐹 𝑓 , 𝐹 𝐿 , 𝑀 𝑃 and 𝑀 𝐿 are internal forces and masses of the pneumatic cylinder system in which was detailed in [53]. On the friction's dynamics, the LuGre friction model was used which can be generally expressed in (2).…”

Section: Overview Of the Ppvdc Modelmentioning

confidence: 99%

Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study

Irawan

Ramli

Sulaiman

et al. 2023

IJRCS

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This paper introduces an optimal control strategy for pneumatic servo systems (PSS) positioning using Finite-time Prescribed Performance Control (FT-PPC) with Particle Swarm Optimization (PSO). Pneumatic servo systems are widely used in industrial automation, as well as medical and cybernetics systems that involve robotics applications. Precision in pneumatic control is crucial not only for the sake of efficiency but also safety. The primary goal of the proposed control strategy is to optimize the convergence rate and finite time of the prescribed performance function in error transformation of the FT-PPC, as well as the Proportional, Integral and Derivative (PID) controller as the inner-loop controller for this system. The study utilizes a dynamic model of a pneumatic proportional valve with a double-acting cylinder (PPVDC) as the targeted plant and performs simulations with a multi-step input trajectory. This offline tuning method is essential for such nonlinear systems to be safely optimized, avoiding major damage to the real-time fine-tuned works on the controller. The results demonstrate that the proposed control strategy surpasses the performance of FT-PPC with a PID controller alone, significantly improving the system's performance, including suppressing overshoot and oscillation in the responses. Further validation through the actual system of PPVDC using the fine-tuned values of FT-PPC and PID with PSO is a future task and more challenging to come, as hardware constraints may vary with different environments such as temperatures.

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Section: Overview Of the Ppvdc Modelmentioning

confidence: 99%

Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study

Irawan

Ramli

Sulaiman

et al. 2023

IJRCS

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show abstract

“…There are many different types of soft actuators, which differ in their working principle. They can use electroactive polymers [17,18], shape memory alloys/polymers [19][20][21][22], hydrogels [23], jamming materials [24,25], electrorheological/magnetorheological fluids [26], or pressurized air [27,28]. The latter is simpler than other driving methods.…”

Section: Introductionmentioning

confidence: 99%

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

2022

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Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-inspired robots able to move in hostile environments. This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible application. A classification based on the geometry is proposed, since a wide set of architectures and manufacturing solutions are available. This aspect is confirmed by the extent of scenarios in which researchers take advantage of such systems’ improved flexibility and functionality. Several applications regarding bio-robotics, bioengineering, wearable devices, and more are presented and discussed.

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“…Therefore, the PAMbased system has been promising for these types of robots because of the following advantages: large power/weight ratio, cost-effectively, lightweight, and similar characteristics to human muscles [1]. Most of the existing PAM-based prototypes have only been developed in research centers [2][3][4][5]. From the point of view of the control method, two essential requirements for rehabilitation systems are trajectory tracking control and impedance control.…”

Section: Introductionmentioning

confidence: 99%

Development of a Rehabilitation Robot: Modeling and Trajectory Tracking Control

Trinh

Dao

2022

AEJ

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Recently, assistive robots have attracted great attention from researchers in the rehabilitation field. These types of robots support patients to perform designated movements during a training process. Despite the existence of commercial rehabilitation systems, growing demands for improvement in both hardware and control design are evident. Therefore, this paper introduces a prototype pneumatic artificial muscle-based assistive robot named BK-Gait and its control strategy for trajectory tracking purposes. Firstly, a brief description of the robot mechanism is presented. Secondly, the mathematical model of the robot’s actuator is built. Third, an active disturbance rejection control (ADRC) strategy is developed to enhance the tracking performance of the robot. Finally, multi scenarios experiments are carried out to evaluate the applicability of the robot and the proposed controller in the rehabilitation field.

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Pneumatic Artificial Muscle Based on Novel Winding Method

Cited by 11 publications

References 27 publications

Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study

Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

Development of a Rehabilitation Robot: Modeling and Trajectory Tracking Control

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