Valuable experimental model of contraction pneumatic muscle actuator

Al-Ibadi, Alaa; Nefti‐Meziani, Samia; Davis, Steve

doi:10.1109/mmar.2016.7575229

Cited by 20 publications

(25 citation statements)

References 21 publications

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“…The length, diameter, and the braided angle change with the amount of the air pressure inside the muscle until the braided angle reaches 54.7°, which represents the critical value at which the contraction force is zero [9,11,12].…”

Section: Structure Of the Pneumatic Muscle Actuatormentioning

confidence: 99%

“…From this equation, the correction factor becomes 1 at maximum air pressure, where the actuator shape is cylindrical. Al-Ibadi, et al [12] argue that the pulling force of the contractor PMA does not generate an air pressure value less than, or equal to, 0.45 bar.…”

Section: Presented Force Formulamentioning

confidence: 99%

“…However, the contraction ratio (ε) is not fixed for all actuators and it depends on the type of inner rubber tube, the diameter of the PMA, and the maximum diameter of the braided sleeve. Al-Ibadi, et al [12] proposed a length formula as in Equation (14).…”

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

“…The length formula in Equation (17) can be used in Equation (12) at any air pressure value to detect the contractor force. Furthermore, the position of a single actuator can be defined at any time for all PMAs under their structure specification.…”

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

“…Their force formulas have been modified many times to reduce the error between the theoretical and exact force values. The force formula has been enhanced by Al-Ibadi, et al [12] by considering the amount of the pressure required to establish the tensile force. The hysteresis has been considered by numerous researchers [13,14].…”

Section: Introductionmentioning

confidence: 99%

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Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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Abstract:To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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Section: Structure Of the Pneumatic Muscle Actuatormentioning

confidence: 99%

Section: Presented Force Formulamentioning

confidence: 99%

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

Al-Fahaam

Davis

Nefti‐Meziani

2018

Robotics and Autonomous Systems

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This article presents the development of a power augmentation and rehabilitation exoskeleton based on a novel actuator. The proposed soft actuators are extensor bending pneumatic artificial muscles. This type of soft actuator is derived from extending McKibben artificial muscles by reinforcing one side to prevent extension. This research has experimentally assessed the performance of this new actuator and an output force mathematical model for it has been developed. This new mathematical model based on the geometrical parameters of the extensor bending pneumatic artificial muscle determines the output force as a function of the input pressure. This model is examined experimentally for different actuator sizes. After promising initial experimental results, further model enhancements were made to improve the model of the proposed actuator. To demonstrate the new bending actuators a power augmentation and rehabilitation soft glove has been developed. This soft hand exoskeleton is able to fit any adult hand size without the need for any mechanical system changes or calibration. EMG signals from the human hand have been monitored to prove the performance of this new design of soft exoskeleton. This power augmentation and rehabilitation wearable robot has been shown to reduce the amount of muscles effort needed to perform a number of simple grasps.

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Trunk-like Soft Actuator: Design, Modeling, and Experiments

Bao¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn recent years, soft robotics is widely considered as the most promising field for both research and application. First of all, the actuator is fundamental for designing, modeling, and controlling of soft robots. This paper presents a new type of pneumatic trunk-like soft actuator, which contains a chamber for stiffness adjustment in addition to three chambers for driving. Thus, the salient feature of the proposed actuator is the ability of stiffness self-regulation. The structure of the proposed actuator is described in detail. Then the theoretical models for elongation and bending motion of the actuator are established. The elongation as well as single-chamber and multi-chamber driving bending of the actuator were tested to verify the mathematical models. Finally, a dual-segment soft robot based on the proposed trunk-like soft actuator was developed and tested by experiments, which implies its potential application in practice.

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Valuable experimental model of contraction pneumatic muscle actuator

Cited by 20 publications

References 21 publications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

Trunk-like Soft Actuator: Design, Modeling, and Experiments

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