Relevant bibliographies by topics / McKibben pneumatic muscle

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  1. Journal articles
  2. Dissertations / Theses
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  4. Conference papers

Academic literature on the topic 'McKibben pneumatic muscle'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "McKibben pneumatic muscle"

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Antonelli, Michele G., Pierluigi Beomonte Zobel, Francesco Durante, and Terenziano Raparelli. "Numerical modelling and experimental validation of a McKibben pneumatic muscle actuator." Journal of Intelligent Material Systems and Structures 28, no. 19 (March 21, 2017): 2737–48. http://dx.doi.org/10.1177/1045389x17698245.

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The McKibben muscle belongs to the type of muscles known as braided muscles. It is made of an inner hyper-elastic tube, surrounded by a braided shell made of inextensible threads; both ends provide mechanical and pneumatic seal. A finite element model of a McKibben pneumatic muscle was built and experimentally validated. The model is based on characteristic parameters of McKibben muscles. It takes into account the non-linearity of the constitutive material of the inner tube. It does not simulate backslashes between the tube and the shell at rest condition, but it models threads and rubber that are always connected. However, it does not consider friction among threads. In order to build and to validate the proposed numerical model, an experimental prototype of the muscle was designed and built. Both isotonic and isometric tests were carried out. Same tests were simulated in the finite element environment. The model validation was performed by comparison between experimental and numerical results.
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Kuriyama, Shinji, Ming Ding, Yuichi Kurita, Jun Ueda, and Tsukasa Ogasawara. "Flexible Sensor for McKibben Pneumatic Artificial Muscle Actuator." International Journal of Automation Technology 3, no. 6 (November 5, 2009): 731–40. http://dx.doi.org/10.20965/ijat.2009.p0731.

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The demand for flexible, lightweight McKibben pneumatic artificial muscles (McKibben actuators) has been increasing for power assistance equipment used for assisting and rehabilitating the elderly. To accurately control this equipment, the length of the actuator should be measured. However, the equipment becomes heavier and less flexible when a rigid sensor, such as a potentiometer or an encoder, is used. The sensor should be flexible in order to take advantage of the favorable properties of the McKibben actuator. The aim of this study is to measure the length of the actuator without loss of its advantages. We propose a method of estimating the length from the circumferential displacement, which can be measured by a sensor made of electroconductive, flexible rubber. Higher accuracy is obtained by measuring the circumferential displacement than by measuring the axial displacement using this sensor. The sensor’s flexibility enables us to accurately control the actuator without any loss of flexibility or increase in weight. Furthermore, the sensor does not require the attachment of any rigid fixtures. The accuracy of the estimate is successfully evaluated and the usefulness of the proposed method is verified through its application to a multi-link arm driven by the McKibben actuator.
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Díaz-Zagal, S., C. Gutiérrez-Estrada, E. Rendón-Lara, I. Abundez-Barrera, and J. H. Pacheco-Sánchez. "Pneumatic Artificial Mini-Muscles Conception: Medical Robotics Applications." Applied Mechanics and Materials 15 (August 2009): 49–54. http://dx.doi.org/10.4028/www.scientific.net/amm.15.49.

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Actually, the pneumatic artificial muscles of McKibben type [1] show a great functional similarity with the skeletal muscle. A detailed analysis of the system has been performed to better characterize this similarity with the analogous dynamic behavior of the organic system. Such analysis has shown that the McKibben-type artificial muscle can be adapted to the Hill fundamental model [2]. Research regarding pneumatic artificial muscle with application to robotics has recently focused on mini-actuators for miniaturized robotics systems. This is specially true in the area of medical robotics, but an extension of miniactuator technology to other applications may be feasible, such as the development of artificial fine-motion limbs (hands and/or fingers). The present work details the artificial muscle miniaturization process developed in the LESIA laboratory, their behavior, their position and force control characteristics, as well as the possible applications of this technology to medical robotics.
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Mirvakili, Seyed M., Douglas Sim, Ian W. Hunter, and Robert Langer. "Actuation of untethered pneumatic artificial muscles and soft robots using magnetically induced liquid-to-gas phase transitions." Science Robotics 5, no. 41 (April 15, 2020): eaaz4239. http://dx.doi.org/10.1126/scirobotics.aaz4239.

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Pneumatic artificial muscles have been widely used in industry because of their simple and relatively high-performance design. The emerging field of soft robotics has also been using pneumatic actuation mechanisms since its formation. However, these actuators/soft robots often require bulky peripheral components to operate. Here, we report a simple mechanism and design for actuating pneumatic artificial muscles and soft robotic grippers without the use of compressors, valves, or pressurized gas tanks. The actuation mechanism involves a magnetically induced liquid-to-gas phase transition of a liquid that assists the formation of pressure inside the artificial muscle. The volumetric expansion in the liquid-to-gas phase transition develops sufficient pressure inside the muscle for mechanical operations. We integrated this actuation mechanism into a McKibben-type artificial muscle and soft robotic arms. The untethered McKibben artificial muscle generated actuation strains of up to 20% (in 10 seconds) with associated work density of 40 kilojoules/meter3, which favorably compares with the peak strain and peak energy density of skeletal muscle. The untethered soft robotic arms demonstrated lifting objects with an input energy supply from only two Li-ion batteries.
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Sárosi, József, Zoltán Fabulya, János Gyeviki, Gábor Keszthelyi-Szabó, and Péter Szendró. "Investigation of accuracy of the newest function approximation for the force generated by pneumatic artifial muscle." Analecta Technica Szegedinensia 7, no. 1-2 (January 24, 2013): 39–49. http://dx.doi.org/10.14232/analecta.2013.1-2.39-49.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company). The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper our newest function approximation for the force generated by Fluidic Muscles is shown that can be generally used for different muscles made by Festo Company.
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Zhao, Huai Lin, Jian Ling Bian, Jian Jiang, and Wei Ming Ji. "A Robot Arm Actuated by Mckibben Muscles." Applied Mechanics and Materials 66-68 (July 2011): 654–58. http://dx.doi.org/10.4028/www.scientific.net/amm.66-68.654.

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A humanoid robot arm with both shoulder joint and elbow joint is built. It is actuated by pieces of Mckibben muscles. Its skeleton-muscle formation is similar to the anatomical structure of the human arm. A pneumatic experiment system is established for supporting and testing the robot arm. The relationship between the robot arm actions and the Mckibben muscles is studied. Some main actions of the robot arm including the elbow bending, the whole arm arising and the rotating around the arm axis are realized.
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Gyeviki, János, József Sárosi, Antal Véha, and Péter Toman. "Experimental investigation of characteristics of pneumatic artificial muscles." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 244–48. http://dx.doi.org/10.14232/jtgf.2010.1-2.244-248.

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The characteristics of pneumatic artificial muscles (PAMs) make them very interesting for the development of robotic and prosthesis applications. The McKibben muscle is the most popular and is made commercially available by different companies. The aim of this research is to acquire as much information about the pneumatic artificial muscles as we can with our test-bed that was developed by us and to be able to adopt these muscles as a part of prosthesis. This paper presents the set-up constructed, and then describes some mechanical testing results for the pneumatic artificial muscles.
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Sárosi, József, János Gyeviki, and Sándor Csikós. "Mesterséges pneumatikus izomelemek modellezése és paramétereinek szimulációja MATLAB környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 273–77. http://dx.doi.org/10.14232/jtgf.2010.1-2.273-277.

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Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.
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Zuo, He, Guo Liang Tao, and Xiao Cong Zhu. "Modeling and Enhancement of Mckibben Pneumatic Muscle Actuators." Advanced Materials Research 591-593 (November 2012): 793–96. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.793.

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Mckibben pneumatic muscle actuators (PMA) have many advantages such as high power-mass ratio and low price, but their strong nonlinear characteristics makes modeling and controlling very hard, which limits their applications. This paper presents the modeling of PMA and methods to enhance their dynamic performances. Considering the incorporated models of fast-switching valves and PMAs, the entire system model is modified in some aspects and the dominant model parameters are determined through experimental results to estimate the dynamic characteristics precisely. Simulation and proper experiments reveal that the dynamic performance of PMA can be improved through filling the PMA with materials of high thermal conductivity. The slow time-varying disturbance caused by the temperature variation of inner gas can be reduced much, which lowers the difficulty of controlling.
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Sárosi, József, and Zoltán Fabulya. "A Fluidic Muscle által kifejtett erő közelítésének vizsgálata MS Excel környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 8, no. 1-2 (January 1, 2013): 70–76. http://dx.doi.org/10.14232/jtgf.2013.1-2.70-76.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company and Shadow Air Muscle manufactured by Shadow Robot Company). Pneumatic artificial muscles have a wide range of use in industrial and medical fields. There are a lot of advantages of these muscles like the high strength, good power-weight ratio, low price, little maintenance needed, great compliance, compactness, inherent safety and usage in rough environments. The main disadvantage is that their dynamic behaviour is highly nonlinear. The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper the newest function approximations for the force generated by Fluidic Muscles are investigated in MS Excel.
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Dissertations / Theses on the topic "McKibben pneumatic muscle"

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Pan, Min, Zhe Hao, Chenggang Yuan, and Andrew Plummer. "Development and control of smart pneumatic mckibben muscles for soft robots." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71262.

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Animals exploit soft structures to move smoothly and effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft actuating technologies into their designs. Developing soft muscle-like actuation technology is one of the grand challenges in the creation of soft-body robots that can move, deform their body, and modulate body stiffness. This paper presents the development of smart pneumatic McKibben muscles woven and reinforced by using conductive insulated wires to equip the muscles with an inherent sensing capability, in which the deformation of the muscles can be effectively measured by calculating the change of wire inductance. Sensing performance of a variety of weaving angles is investigated. The ideal McKibben muscle models are used for analysing muscle performance and sensing accuracy. The experimental results show that the contraction of the muscles is proportional to the measured change of inductance. This relationship is applied to a PID control system to control the contraction of smart muscles in simulation, and good control performance is achieved. The creation of smart muscles with an inherent sensing capability and a good controllability is promising for operation of future soft robots.
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Lopes, Ivo da Paz. "Músculo de McKibben aplicado em manipulador não condutor." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-29122014-172555/.

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Quando as atividades de um sistema mecatrônico são realizadas em ambientes com intenso campo elétrico e ou magnético, os dispositivos que irão executar as tarefas devem ser cuidadosamente projetados para que a presença de peças metálicas não se torne um risco. O campo elétrico pode gerar descargas elétricas e o campo magnético, exercer forças não previstas sobre peças metálicas. Assim o uso de alguns elementos, como motores elétricos, peças metálicas ou sensores eletrônicos se torna inviável. A motivação inicial para esse trabalho foi encontrar um atuador que possa ser construído sem o uso de elementos metálicos e com ele, construir um manipulador inerte a campos magnéticos e elétricos. Neste contexto, a transmissão de energia para os atuadores por meios hidráulicos ou pneumáticos se torna a opção mais indicada. Frequentemente, sistemas pneumáticos e hidráulicos apresentam atuadores com componentes metálicos, devido a resistência mecânica destes componentes. Em situações na qual os requisitos quanto a esforços são menores, elementos metálicos podem ser substituídos por materiais poliméricos de uso comum na Engenharia. Entre os atuadores hidráulicos e pneumáticos, um que já apresenta poucas partes metálicas é o músculo pneumático artificial (MPA). O MPA possui características tais como: baixo peso relacionado ao esforço gerado, escala de esforços similar a um cilindro pneumático de mesmo tamanho e construção simples. Assim, o MPA foi escolhido como atuador para o manipulador não-condutor desenvolvido neste trabalho. Adotando o MPA como elemento central, este trabalho tem por objetivo identificar as diretrizes para a aplicação do MPA na construção de um manipulador inerte a campos elétricos e magnéticos. Para isso, primeiramente foi desenvolvido um MPA livre de qualquer parte metálica. Visando sua aplicação, as características do músculo como: gama de esforços, tempo de resposta e histerese foram avaliadas através de testes. Algumas estratégias de controle do atuador foram testadas e comparadas, e com o atuador desenvolvido foi construído um manipulador inerte a campos magnéticos e elétricos. O manipulador construído tem como objetivo exercer movimentos distintos sobre a mão de um paciente, o mesmo deve acompanhar o paciente durante um exame de ressonância magnética. O atuador apresentou uma gama de esforços dentro do previsto, um tempo de resposta característico de atuadores pneumáticos e ao contrário do esperado, uma baixa histerese. Através de elementos mecânicos e com o uso de dois MPA, o manipulador foi capaz de exercer um trabalho sobre a mão de um voluntario fora do campo da RM, mostrando a viabilidade da aplicação.
When activities executed by a mechatronic system are performed in environments with strong magnetic and or electric field, the devices that will perform the tasks should be carefully designed so that the presence of metal parts does not become a risk. The electric field can generate electrical currents and the magnetic field may exert unexpected force in a metal part. Thus the use of some elements, such as electric motors, metallic parts or electronic sensors becomes unviable. The initial motivation for this work was to find an actuator that could be built without metallic elements and, using such actuator, build a manipulator inert to magnetic and electric fields. In this context, the use of hydraulic or pneumatic actuators becomes the most indicated option. Frequently, pneumatic and hydraulic systems have actuators with metal parts so as resist mechanical loads. In situations where the actuator is loaded by small loads, metal parts may be replaced by polymeric materials commonly used in Engineering. Among hydraulic and pneumatic actuators, one that already presents a few metal parts is the pneumatic artificial muscle (PAM). PAM has characteristics such as: low weight to effort ratio, simple construction as well as range of generated force and dimensions similar to a pneumatic cylinder. Thus, the PAM is chosen as the actuator for the non-conductive manipulator developed in this work. Adopting the PAM as a central element, this work aims identifying directives on using the PAM in the construction of a manipulator inert to electric and magnetic fields. For this, firstly it is developed a PAM free from any metal part. Next, the characteristics of the PAM such as range of efforts, response time and hysteresis curve are assessed through tests. Some strategies for the actuator control are tested and compared. Finally, using the developed actuator, a manipulator inert to magnetic and electric fields are constructed. The purpose of this manipulator is to induce motions to the fingers of a patient hand while the patient is examined in a MRI (magnetic resonance imaging) equipment. The actuator presented a range of efforts according to expectations, a response time compatible with pneumatic actuators and, contrary to expectations, low hysteresis.
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Murillo, Jaime. "Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24104.

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Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life. This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.
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Kopečný, Lukáš. "McKibbenův pneumatický sval - modelování a použití v hmatovém rozhraní." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-233458.

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This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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Mikol, Collin Everett. "Design, Modeling, and Experimental Testing of a Variable Stiffness Structure for Shape Morphing." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1523454926569658.

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Hari, shankar lal das Ganesh kumar. "Design, modeling and control of inherently compliant actuators with a special consideration on agonist-anthropomorphic configuration." Thesis, Toulouse, INSA, 2016. http://www.theses.fr/2016ISAT0030/document.

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Conception, modélisation et contrôle des actionneurs intrinsèquement conformes avec une considération particulière sur la configuration anthropomorphe agoniste-antagoniste "La recherche vise à la conception, la modélisation et le contrôle des actionneurs intrinsèquement conformes pour les systèmes anthropomorphes.La première partie du travail se concentre sur l'étude de divers Existants et rechercher la possibilité d'autres actionneurs autres que les moteurs électriques conventionnels.Une attention particulière est accordée aux actionneurs souples à base de polymères élctroactifs qui ont un bon potentiel dans les futures applications robotiques. Parallèlement, on a synthétisé un modèle de la dynamique de l'actionneur et du contrôleur basé sur le modèle (MPC et contrôle optimal) pour un bras anthropomorphe 7 Dofs actionné par une paire antagoniste-agoniste de Muscles Artificiels Pneumatiques (PAM) à chaque articulation. Ce modèle et contrôleur est alors intégré dans l'environnement logiciel développé par l'équipe. En utilisant le bras manipulateur anthropomorphe basé sur PAM et le simulateur numérique, des tests sont effectués afin d'évaluer le potentiel de cet actionneur et de comparer avec les capacités du corps humain
Design, modeling and control of inherently compliant actuators with a special consideration on agonist- antagonist anthropomorphic configuration" The research aims at the design, modeling and control of inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the study of various existing designs and look for the possibility of alternative actuators other than the conventional electric motors. Special attention is given to elctroactive polymer based soft actuators which have good potential in future robotic applications. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized for an anthropomorphic 7 Dofs arm actuated by antagonist-agonist pair of Pneumatic Artificial Muscles (PAMs) at each joint. Such model and controller is then integrated within the software environment developed by the team. Using the PAMs based anthropomorphic manipulator arm and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities
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Petinari, Andrea. "Hand rehabilitation device for extension, opposition and reposition." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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In this paper, the research focused on the development of a hand rehabilitation device which could perform extension, opposition and reposition movements. Firstly, the anatomy of the hand is analyzed and studied to understand where the problem resides; since the mechanism will be applied to post-stroke patients, it is necessary to comprehend the structure and the articulations of the hand, the muscles involved in the mentioned movements and how a healthy hand works. Then, the causes of the problem are studied, what are the consequences on the hand and how to solve every issue. Brunnström Approach is taken as reference for the rehabilitation therapy steps. After the performance target is defined and which function has the priority, a brief research on the state of the art is made. Six different devices are analyzed, taking into account their strengths and weaknesses, evaluating them and trying to find possible lacks to solve. An evaluation of possible solutions is done, in order to find the optimal solution for the problem. Various types of actuation and structure of the mechanism are considered. Defined which are the best choices between the ones proposed, the next step is to design a first prototype with the purpose of bringing together the solutions selected. The CAD used is PTC Creo Parametric. Once the first prototype was designed, it was partially printed with 3D technique (additive manufacturing) and tested; tests were made on the actuation and on the device to evaluated its efficacy. The results are visible in this paper. Finally, a conclusion is discussed with a short resume of the experiments made and the results obtained. Furthermore, remaining problems and future works are analyzed and debated.
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Wu, Meng-Je, and 吳孟哲. "Identification and Control of Mckibben Pneumatic Muscles for a Wearable Lower Limb Orthosis." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/01586386836727059160.

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Book chapters on the topic "McKibben pneumatic muscle"

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Magnetti Gisolo, Stefania, Giovanni Gerardo Muscolo, Maria Paterna, Carlo De Benedictis, and Carlo Ferraresi. "Feasibility Study of a Passive Pneumatic Exoskeleton for Upper Limbs Based on a McKibben Artificial Muscle." In Advances in Service and Industrial Robotics, 208–17. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-75259-0_23.

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Conference papers on the topic "McKibben pneumatic muscle"

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Zang, Kejiang, Yuhua Wang, Xiaoqing Fu, and Xiaoping Hu. "Study on Modeling of Mckibben Pneumatic Artificial Muscle." In 2008 International Conference on Intelligent Computation Technology and Automation (ICICTA). IEEE, 2008. http://dx.doi.org/10.1109/icicta.2008.270.

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Itto, Takashi, and Kiminao Kogiso. "Hybrid modeling of McKibben pneumatic artificial muscle systems." In 2011 IEEE International Conference on Industrial Technology (ICIT 2011). IEEE, 2011. http://dx.doi.org/10.1109/icit.2011.5754347.

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Kogiso, Kiminao, Kenta Sawano, Takashi Itto, and Kenji Sugimoto. "Identification procedure for McKibben pneumatic artificial muscle systems." In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012). IEEE, 2012. http://dx.doi.org/10.1109/iros.2012.6385778.

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Lepiarz, Wojciech. "The vision analysis of a McKibben pneumatic artificial muscle." In 2014 15th International Carpathian Control Conference (ICCC). IEEE, 2014. http://dx.doi.org/10.1109/carpathiancc.2014.6843617.

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Tian, Yinan, Kai Wang, Juan Yi, Zheng Wang, and Michael Z. Q. Chen. "Introduction to modeling of the McKibben pneumatic artificial muscle with end constraints." In 2016 IEEE International Conference on Information and Automation (ICIA). IEEE, 2016. http://dx.doi.org/10.1109/icinfa.2016.7832078.

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Jouppila, V., S. A. Gadsden, S. R. Habibi, G. M. Bone, and A. Ellman. "Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator." In ASME 2009 International Mechanical Engineering Congress and Exposition. ASMEDC, 2009. http://dx.doi.org/10.1115/imece2009-13024.

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In this paper, a robust and stable control strategy is applied to a Festo fluidic muscle actuator, with the objective of trajectory following control. A complete model of this system is not available which leads to unmodeled dynamics and uncertainties. Furthermore, full-state feedback is required for this type of control. However, in practice not all of the states are measurable or available due to cost or availability of instruments, thus a full-state observer is required. The Smooth Variable Structure Filter (SVSF) is a recently introduced robust predictor-corrector method used for state and parameter estimation, and has a form that is able to provide full-state information. In this regard, a new strategy that combines Sliding Mode Control (SMC) with the SVSF is used to control this system. The estimated states from the SVSF are used by the sliding mode controller to obtain a discontinuous control signal. This signal drives the plant to follow a desired state trajectory required by the pneumatic McKibben muscle actuator. Simulation results were generated based on a realistic desired trajectory. The results of the SMC-SVSF control strategy are compared with a tuned PID controller. The described control strategy is able to overcome the nonlinearities present in the system, has a fast response time, and is robust to modeling uncertainties and measurement noise.
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Lopez-Diaz, Antonio, Ana Martin-Pacheco, Alicia Naranjo, Cristina Martin, M. Antonia Herrero, Ester Vazquez, and Andres S. Vazquez. "Autonomous self-healing pneumatic McKibben muscle based on a new hydrogel material." In 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2020. http://dx.doi.org/10.1109/robosoft48309.2020.9115992.

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Okabe, Atsushi, and Kiminao Kogisol. "Efficient Algorithm for Constructing a Load-Dependent McKibben Pneumatic Artificial Muscle Model." In 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2018. http://dx.doi.org/10.1109/aim.2018.8452366.

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Yokoyama, Koichiro, and Kiminao Kogiso. "PID Position Control of McKibben Pneumatic Artificial Muscle Using Only Pressure Feedback." In 2018 Annual American Control Conference (ACC). IEEE, 2018. http://dx.doi.org/10.23919/acc.2018.8431631.

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10

Iwaki, M., Y. Hasegawa, and Y. Sankai. "Study on wearable system for daily life support using McKibben pneumatic artificial muscle." In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). IEEE, 2010. http://dx.doi.org/10.1109/iros.2010.5649881.

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