Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle

Saga, Norihiko; Shimada, Kunio; Inamori, Douhaku; Saito, Naoki; Satoh, Toshiyuki; Nagase, Jun-ya

doi:10.3390/s22228975

Cited by 4 publications

(4 citation statements)

References 22 publications

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“…These artificial muscles can consist of one or more chambers within a single unit, offering a versatile range of motions, including linear extension, bending, contraction, and twisting actuation [ 33 , 39 ]. Smooth pneumatic muscles find applications in various domains, with a special focus on assistive and rehabilitation contexts [ 40 , 41 ]. An example of a wearable robotic device designed for ankle–foot rehabilitation emulates the musculoskeletal system of the human foot, providing active assistance while preserving natural ankle joint freedom [ 42 ].…”

Section: Advancements In Soft Pneumatic Musclesmentioning

confidence: 99%

“…These techniques give researchers a deeper understanding of the soft robot’s behavior and enhance its control mechanisms. Soft pneumatic muscles (SPMs) offer several advantages over traditional rigid actuators, such as high compliance, low weight, and the ability to generate complex multi-degree-of-freedom motions [ 40 ]. Neural networks can be effectively combined with SPMs to enhance performance and control.…”

Section: Workpace and Kinematic Model For Spmmentioning

confidence: 99%

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Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

et al. 2023

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Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneumatic actuators, a prevalent type of soft robot, are the focus of this paper. A new geometrical parameter for soft artificial pneumatic muscles is introduced, enabling the prediction of actuation behavior using analytical models based on specific design parameters. The study investigated the impact of the chamber pitch parameter and actuation conditions on the deformation direction and internal stress of three tested soft pneumatic muscle (SPM) models. Simulation involved the modeling of hyperelastic materials using finite element analysis. Additionally, an artificial neural network (ANN) was employed to predict pressure values in three chambers at desired Cartesian positions. The trained ANN model demonstrated exceptional performance. It achieved high accuracy with training, validation, and testing residuals of 99.58%, 99.89%, and 99.79%, respectively. During the validation simulations and neural network results, the maximum errors in the x, y, and z coordinates were found to be 9.3%, 7.83%, and 8.8%, respectively. These results highlight the successful performance and efficacy of the trained ANN model in accurately predicting pressure values for the desired positions in the soft pneumatic muscles.

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Section: Advancements In Soft Pneumatic Musclesmentioning

confidence: 99%

Section: Workpace and Kinematic Model For Spmmentioning

confidence: 99%

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

et al. 2023

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“…The core material of these artificial muscles is electroactive polymers, and their operation relies on electrical stimulation to initiate material movement 9 . BMAMs are employed to simulate muscle movements, enabling robots or other devices to perform various tasks, such as object manipulation or execution of complex actions 10 . However, traditional electroactive polymers, including polystyrene, polypropylene, and polyurethane, 11–13 have caused significant environmental damage both in their production processes and the handling of products made from them.…”

Section: Introductionmentioning

confidence: 99%

“…9 BMAMs are employed to simulate muscle movements, enabling robots or other devices to perform various tasks, such as object manipulation or execution of complex actions. 10 However, traditional electroactive polymers, including polystyrene, polypropylene, and polyurethane, [11][12][13] have caused significant environmental damage both in their production processes and the handling of products made from them. Polystyrene, for example, exhibits an extremely slow degradation rate under natural conditions, with degradation times extending to hundreds of years or even longer.…”

mentioning

confidence: 99%

Investigation of the influence of nano ZnO particle doping in electrode membrane on the output characteristics of biomimetic artificial muscles

Ji,

Wang,

Zhao

2024

Polymer Engineering & Sci

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Biomimetic artificial muscles (BMAMs) aim to imitate the movement and capabilities of natural muscles, drawing inspiration from their structure and function. This research utilized multiwalled carbon nanotubes to increase the conductivity of the electrode membrane and replaced traditional electroactive polymers with sodium alginate to improve the output performance of BMAMs. To further strengthen the output force of the electrode membrane, nanoscale ZnO was chosen as the doping material. Various composite electrode membranes were created during the experiments, each containing varying amounts of ZnO nanoparticles. The membranes' surface morphology was extensively examined with scanning electron microscopy, and the composite electrode membranes were fully assessed on an electrochemical workstation. Electrochemical testing showed that adding nanoscale ZnO particles greatly boosted the specific capacitance of the electrode membrane, which was directly linked to the performance of BMAMs. Impedance spectroscopy test results indicated a minimal impact of nanoscale ZnO particle doping on the internal resistance of the electrode membrane.Highlights Sodium alginate replaces electroactive polymers, easing environmental impact. Nano ZnO doping boosts electrode membrane's capacitance for stronger muscles. ZnO doping shows minimal effect on electrode membrane's resistance.

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Force-displacement hysteresis characteristics of PAM based on improved generalised Prandtl-Ishlinskii model

Zhang,

Liu,

Cai

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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As an advanced actuator that simulates the characteristics of biological muscle, the internal structure and working principle of pneumatic artificial muscle imply significant complexity and highly nonlinear characteristics, which are particularly prominent in the theoretical modelling process, and pose many challenging problems for researchers. The classical Prandtl-Ishlinskii model fails to provide ideal mathematical descriptions and accurate models when dealing with the nonlinear characteristics of pneumatic artificial muscle, resulting in the construction of models for such nonlinear systems that still require further research. Based on the above, this paper proposes a generalised Prandtl-Ishlinskii model based on the improved force-displacement hysteresis characteristics of pneumatic artificial muscle, which employs an improved particle swarm optimisation to identify the unknown parameters of the model, and applies the identified parameters to construct the force-displacement hysteresis curves of pneumatic artificial muscle. Comparing the model fitting results with the experimental data, it is found that the maximum error of the improved generalised Prandtl-Ishlinskii model is reduced by more than 50% and the average error is reduced by more than 75% compared with the classical Prandtl-Ishlinskii model when the internal pressure of the pneumatic artificial muscle is 0.35, 0.4 and 0.45 MPa. The improved generalised Prandtl-Ishlinskii model can better characterise the asymmetric hysteresis property, which improves the model accuracy of the force-displacement coupling of pneumatic artificial muscle, and provides a certain theoretical basis for the later realisation of the precise control of the force-displacement coupling of pneumatic artificial muscle.

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Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle

Cited by 4 publications

References 22 publications

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

Investigation of the influence of nano ZnO particle doping in electrode membrane on the output characteristics of biomimetic artificial muscles

Force-displacement hysteresis characteristics of PAM based on improved generalised Prandtl-Ishlinskii model

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