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Dissertations / Theses on the topic 'Muscoli Pneumatici'

Author: Grafiati
Published: 14 March 2023
Last updated: 31 July 2025

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1

SIROLLI, SILVIA ALESSANDRA. "Studio di Muscoli Pneumatici Innovativi e Loro Integrazione in Vestiti Attivi a Scopo Riabilitativo." Doctoral thesis, Politecnico di Torino, 2015. http://hdl.handle.net/11583/2616404.

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La presente tesi espone lo sviluppo di muscoli pneumatici artificiali adatti ad essere integrati in un vestito attivo al fine di sviluppare un prototipo di maglietta per la movimentazione delle braccia con l’idea che l’uso di tessuti, invece che di esoscheletri rigidi, possano risolvere contemporaneamente i problemi di mobilità e di ergonomia. Gli attuatori pneumatici tradizionali, com’è noto, hanno larga diffusione per l’elevato rapporto potenza-peso, i costi contenuti, la facilità d’installazione e la robustezza; assicurano una grande efficienza, specialmente in quelle applicazioni automati
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Yang, Hee Doo. "Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78284.

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The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a good fit for exoskeleton robots because of their light weight, small size, and flexible materials. This i
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Hall, Kara Lynn. "Dynamic Control for a Pneumatic Muscle Actuator to Achieve Isokinetic Muscle Strengthening." Wright State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=wright1307113453.

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4

Gerschutz, Maria J. "Dynamic Pneumatic Muscle Actuator Control System for an Augmented Orthosis." Wright State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=wright1210286543.

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5

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
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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 deformati
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7

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 inter
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8

Henderson, Gregory Clark. "Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/47624.

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A control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual control of mono-articular or bi-articular muscles to be exercised while not inhibiting the subject's range of motion. The control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the
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Davis, Steven T. "Braided pneumatic muscle actuators : enhanced modelling and performance in integrated, redundant and self healing actuators." Thesis, University of Salford, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.419130.

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10

Serres, Jennifer L. "Dynamic Characterization of a Pneumatic Muscle Actuator and Its Application to a Resistive Training Device." Wright State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=wright1227233038.

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11

Draper, Shane N. "Effects of Intermittent Pneumatic Compression on Delayed Onset Muscle Soreness (DOMS) in Long Distance Runners." Cleveland State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=csu1407279331.

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12

Bubert, Edward A. "Highly extensible skin for a variable wing-span morphing aircraft utilizing pneumatic artificial muscle actuation." College Park, Md. : University of Maryland, 2009. http://hdl.handle.net/1903/9332.

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Thesis (M.S.) -- University of Maryland, College Park, 2009.<br>Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Leclair, Justin. "Development and Testing of an Unpowered Ankle Exoskeleton for Walking Assist." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/34463.

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Assistive technologies traditionally rely on either strong actuation or passive structures to provide users with increased strength, support or the ability to perform lost functions. At one end of the spectrum are powered exoskeletons, which significantly increase a user’s strength, but require strong actuators, complex control systems, and heavy power sources. At the other end are orthoses, which are generally unpowered and lightweight devices that rely on their structure’s mechanical behaviour to enhance user’s support and stability. Ideally, assistive technologies should achieve both system
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Shaheen, Robert. "Design and Material Characterization of a Hyperelastic Tubular Soft Composite." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36117.

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Research within the field of human motion assistive device development, with the purpose of reducing the metabolic cost of daily activities, is seeing the benefits of the exclusive use of passive actuators to store and release energy during the gait cycle. Designs of novel exoskeletons at the University of Ottawa implement the Pneumatic Artificial Muscle (PAM) as the primary method of nonlinear, passive actuation. The PAM is proven as a superior actuator for these devices when compared to the linear mechanical springs used by other researchers. There are, however, challenges regarding PAM
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Moffat, Shannon Marija. "Biologically Inspired Legs and Novel Flow Control Valve Toward a New Approach for Accessible Wearable Robotics." Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-theses/1279.

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The Humanoid Walking Robot (HWR) is a research platform for the study of legged and wearable robots actuated with Hydro Muscles. The fluid operated HWR is representative of a class of biologically inspired, and in some aspects highly biomimetic robotic musculoskeletal appendages showing certain advantages in comparison to more conventional artificial limbs and braces for physical therapy/rehabilitation, assistance of daily living, and augmentation. The HWR closely mimics the human body structure and function, including the skeleton, ligaments, tendons, and muscles. The HWR can emulate close to
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16

Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.

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In recent years, soft materials have seen increased prevalence in the design of robotic systems and wearables capable of addressing the needs of individuals living with disabilities. In particular, pneumatic artificial muscles (PAMs) have readily been employed in place of electromagnetic actuators due to their ability to produce large forces and motions, while still remaining lightweight, compact, and flexible. Due to the inherent nonlinearity of PAMs however, additional external or embedded sensors must be utilized in order to effectively control the overall system. In the case of external se
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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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18

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
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19

Hamon, Pol. "Conception et contrôle d'un préhenseur sous-actionné pour la saisie d'objets complexes." Electronic Thesis or Diss., Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0065.

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Cette thèse présente une architecture de main avec trois doigts sous-actionnés. Chaque doigt effectue des mouvements spatiaux afin d’obtenir une saisie plus complexe et variée que les doigts à mouvements planairesexistants. L’objectif de cette main est de saisir des pièces de forme complexe à la sortie des centres d’usinage. Parmi la taxonomie des préhensions, les préhensions cylindriques et sphériques sont souvent utilisées pour saisir des objets. Après une présentation de la cinématique des doigts avec les préhensions cylindriques et sphériques d’un prototype, cette thèse propose d’aborder l
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Lu, Nien-Wei, and 呂念緯. "Physics-based Modeling of Pneumatic Muscle Actuators." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/fehekh.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>106<br>In Taiwan as the fertility rate is declining year by year and the average life is risen, the problem of Taiwan’s ageing society is getting more and more serious, and the proportion of young people who are raising elderly people on average is also rising. Therefore, it is expected that the Pneumatic Muscle Actuator (PMA) can be applied to prosthetic aids to help the elderly or the disabled to improve their ability to live their own lives. PMA are lightweight,high-security actuators whose flexibility makes the contact between the human body and the machinery saf
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Ou, Pei-Yi, and 歐佩宜. "Model-based Design and Fabrication of Pneumatic Muscle Actuators." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/a4ej3s.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>106<br>Pneumatic muscle is a type actuator with high safety as its pliability allows greater, proximity between the humans and the robots. In recent years, the elderly population grows rapidly whereas the birth rate reduces, resulting in an increasing dependency ratio. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. Unfortunately, there is no company in Taiwan producing the pneumatic muscle actuators and the imports are not only expensive but also impossible to be customi
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YANG, CHENG-YUAN, and 楊鎮遠. "A Study of the Innovative Pneumatic Servo Mechanism and the Bionic Pneumatic Muscle System for Upper Arm Rehabilitaion." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/26zv82.

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碩士<br>逢甲大學<br>機械與電腦輔助工程學系<br>106<br>The purpose of this study is to design a long-stroke asymmetric pneumatic servo system of the body. Firstly, the platform of long stroke asymmetric pneumatic servo system was designed by Solidworks, and the effect of gravitational direction on the real-time trajectory control is considered for the mathematical model of asymmetric pneumatic system. Then use the Numerical analysis software Matlab for the establishment of asymmetric pneumatic system, and the asymmetric pneumatic control system design. In the controller design, adaptive sliding mode control base
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Chen, Fu-Wen, and 陳福文. "A control loading system based on a pneumatic artificial muscle." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/93306398984821191327.

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碩士<br>國立臺灣師範大學<br>機電工程學系<br>103<br>In this paper the application of a pneumatic artificial muscle to the control loading system is investigated, and the controller designs are compared. Trajectory tracking control in this paper is first studied based on the sliding mode controller, the fuzzy sliding mode controller and the adaptive fuzzy sliding mode controller for the pneumatic artificial muscle. The pneumatic artificial muscle testbed is made with a steel string fixed at one end, and the other end connected to a spring-mass system, such that these three controllers are in comparison on the
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Hsieh, Yi-Hsueh, and 謝佾學. "Design and Fabrication of Pneumatic Muscle Lower Back Support Wear." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/9t68y5.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>107<br>Pneumatic muscle is an actuator with fast response, easy to adjustment, and high safety as its pliability makes the contact between the human body and the machine safer. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. The purpose of this research is to develop a back support wear that use pneumatic muscles as actuators to reduce the amount of power users need to carry heavy loads. However, there are no manufacturers producing pneumatic muscles in Taiwan currently.
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WANG, Kai-Yuan, and 王楷元. "Studies of a Spherical Parallel Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/48225825226657010994.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>94<br>The position control of tendon driven, two degree-of-freedom spherical parallel robot actuated by pneumatic muscle actuators is studied, including the kinematic model and tracking plan method. It is difficult to achieve high control accuracy using classical control method because the compressibility of gas and the nonlinear elasticity of bladder container caused parameter variation. In this research, four different intelligent control strategies : (1)conventional fuzzy controller (2) fuzzy sliding mode controller (3) self-organizing fuzzy sliding mode cont
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Gung-Lin, Jin, and 金冠霖. "System Identification of a Pneumatic Artificial Muscle Using an Embedded System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/52a3nj.

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碩士<br>國立臺灣師範大學<br>機電科技學系<br>101<br>Pneumatic artificial muscle is a highly nonlinear system because of the internal friction effects, so the LuGre friction model is developed for the friction model of the pneumatic artificial muscle in this paper, and the Particle Swarm Optimization Algorithm (PSO) is used to solve the unknown parameters of the friction model for the system identification of the pneumatic artificial muscle. In addition, the Programmable System on Chip (PSoC) is used for the data acquisition of the pneumatic artificial muscle system. The data about the d
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Hsu, Yang-De, and 徐仰德. "Design and Control of a Humanoid Robot Arm with Pneumatic Muscle." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/8e9eub.

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碩士<br>龍華科技大學<br>機械工程系碩士班<br>105<br>This study developed a flexible 6 DOF humanoid robot arm driven by pneumatic muscle. Three joints of the shoulder, elbow, and wrist were constructed according to the human body structure for parts of mechanism design. Each joint was composed of a pair of pneumatic muscles. The joint can generate rotation through the length and contraction force changes produced by inflation shrinkage and exhaust extension. The joint angle change can be measured on the incremental encoder. For the control system, the pneumatic muscle has highly nonlinear and time-varying chara
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SHIH, WEN-HSIANG, and 施文祥. "Gait Control of a Biped Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/30317290143458996823.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>96<br>In this study, we design and manufacture a biped robot actuated by pneumatic muscle actuators. This biped robot has 6 degrees of freedom, including 2 hip joints, 2 knee joints and 2 ankle joints. Therefore, we have implemented conpletely a human – like robot. We use adaptive self-organizing fuzzy sliding mode control (ASOFSMC) to implement gait tracking control. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the fuzzy sliding surface can reduce fuzzy sets. And then the adaptive law is used to adjust scaling factor. The
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Zhang, Yi-Jiang, and 張藝鏹. "Adaptive Sliding-Mode Control for Pneumatic Muscle Active Vehicle Suspension Systems." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/11283863608388933797.

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碩士<br>龍華科技大學<br>工程技術研究所<br>101<br>This thesis developed a pneumatic-muscle active vehicle suspension system, and designed the controller to provide the better riding comfort and driving controllability. Due to the high nonlinearity and time-variant characteristics of the pneumatic-muscle active vehicle suspension system, it is difficult to establish an accurate dynamic mathematical model of the system to conduct the controller design. This thesis thus used the mathematical model of Haar wavelet series approximation system, along with the adaptive control, sliding mode control and tracking tec
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Huang, Wei-Chin, and 黃威誌. "Self-Organizing Fuzzy Control Applied in a 2D Pneumatic Muscle Actuators’ Arm." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/ve3zd2.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>94<br>Abstract This thesis is to develop a 2D pneumatic arm control system, which is setup by two muscle actuators and kinematic linkages. Using the self-organizing fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually. Then, both self-organizing fuzzy controller and sliding mode fuzzy controller are applied for various experiments of this 2D pneumatic arm control system. From process, experimental results, we can study this transient and steady state behaviors, and then justify their control accuracy and adaptation of self-organizi
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KUAN, LEE PO, and 李柏寬. "Intelligent Controller Apply in Leg Rehabilitation Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/11575791263008039451.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>96<br>Rehabilitation devices provide joint loading to help patients recover extremity functions in cases of traumatic brain injury, amputation, bone injury, or spinal cord injury caused by misfortunes such as traffic accidents and cerebral apoplexy that affect extremity activity. Rehabilitation robots are usually driven by electric motors, and electric motors are typically rigid in nature. Because of this, actuators can generate uncomfortable or painful conditions when interfacing with humans. Ideally, rehabilitation robots should provide high levels of safety a
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Lin, Guan-You, and 林冠佑. "Development of Tracking Control of a Single-Axis Robot Arm with Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/15345670869451526514.

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碩士<br>國立臺灣大學<br>工程科學及海洋工程學研究所<br>96<br>The paper aims to develop a novel pneumatic robot system driven by Pneumatic Muscle Actuators (PMA). In order to analyze the characteristics of the PMA, non-linear modeling, dynamic simulation and experiments of path tracking control and path-positioning control are implemented for the single PMA firstly. Then, the dual-PMA robot arm is also implemented for the rotational angle control in simulation and experiment where the rotational axis is driven by two PMAs, i.e. one is in extension and the other is in contraction. To realize the rotational angle con
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Lin, Chung-Wei, and 林忠緯. "A Study of Bipedal Robot Actuated by Pneumatic Muscle Actuators Using Gait Learning Control." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/08573543005245313424.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>98<br>In this study ,we design a bipedal robot actuated by pneumatic muscle actuators, which has 8 degrees of freedom, including 2 hip joints, 2 knee joints and 4 ankle joints . Therefore, we have implemented completely a human – like robot. A pictures of the human walk are captured by CCD and two legs walking trajectory are simulated by MATLAB package.The fuzzy sliding mode control (FSMC) is applied in the bipedal robot. Experimental results show that the bipedal robot is successed for static walking motion using image processing as a input comma
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"Highly extensible skin for a variable wing-span morphing aircraft utilizing pneumatic artificial muscle actuation." UNIVERSITY OF MARYLAND, COLLEGE PARK, 2009. http://pqdtopen.proquest.com/#viewpdf?dispub=1465541.

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Chen, Wei-Gang, and 陳偉綱. "Design of a Grey-Prediction Adaptive Sliding-Mode Controller for Pneumatic Muscle Active Suspension System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/39486314424681001433.

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碩士<br>龍華科技大學<br>機械工程系碩士班<br>104<br>This thesis aims at the controller design for the pneumatic muscle activate vehicle suspension system in order to provide better riding comfort and driving controllability. Since the pneumatic muscle activate vehicle suspension system is highly nonlinear and time-dependent, it is difficult to build an accurate mathematical model for the system dynamics of the controller design. Therefore, this thesis combines a finite Fourier series approximation system dynamic mathematical model with adaptive control, sliding mode control, and the H_∞ tracking technique to d
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Chen, Ming-Lun, and 陳明綸. "T-S Fuzzy Controller Applied to Lower Extremity Rehabilitation Machine Actuated by Pneumatic Muscle Actuates." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/19143456131687822096.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>97<br>This paper presents the two degrees of freedom rehabilitation robot actuated by pneumatic muscle actuators. It is difficult to achieve excellent control performance using classical control method because the compressibility of gas and the nonlinear elasticity of bladder contains causes parameter variations. Therefore, the T-S fuzzy controller is applied to the rehabilitation robot to improve control performance. The T-S fuzzy controller which combines the merits of (i) the capability for dealing with nonlinear systems; (ii) the powerful LMI approach to ob
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Lin, Yi-Jie, and 林宜頡. "Design and Control of Active Vehicle Suspension System with the Structure of Pneumatic Muscle Actuator." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/25049030765439679362.

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碩士<br>輔仁大學<br>電機工程學系碩士班<br>104<br>This thesis firstly proposed a pneumatic road actuation system based on fuzzy logic control technique for the developed suspension test bench. The road actuation system can provide the simulated road profile for the analysis in the vehicle suspension control system. Further, the neural network (NN) is applied to learn the control parameters of fuzzy logic controller in different road surface conditions. Due to high nonlinearity and uncertainty of the utilized pneumatic actuation system in the developed road surface simulator, the genetic algorithm (GA) optimiz
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Chen, Yi-Min, and 陳以民. "Angle Tracking Control of a Single Joint Driven by Pneumatic Muscle Actuators Using Intelligent Controller." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/65533119681716750064.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>102<br>In cases of traumatic brain injury , bone injury, amputation, or spinal injury caused by misfortunes such as traffic accidents and cerebral apoplexy, rehabilitation machine can help patients recover extremity functions by means of continuous passive motion(CPM). Traditionally, rehabilitation machine are usually driven by electric motors, which are typically rigid in nature. Because of this, actuators can generate discomfort or pain when interfacing with humans. Pneumatic muscles actuators (PMAs) have high reliability, and compliance for use with humans. F
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Yuan, Tsan-Hsiu, and 袁贊修. "Tracking Control of a Three Degrees of Freedom Mechanical Arm Actuated by Pneumatic Muscle Actuators." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/48669028079872239144.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>95<br>In this study, the three degrees of freedom mechanical arm actuated by six pneumatic muscle actuators is used as a rehabilitation robot. It is difficult to achieve high control accuracy using classical control method, because the compressibility of gas and the nonlinear elasticity of bladder container caused parameter variation. We use two intelligent controllers to implement angle control and end-effector tracking control. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the fuzzy sliding surface can reduce fuzzy sets.
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Chang, Che-Wei, and 張哲瑋. "Design and Control of a Dual-axial Parallel Robotic Arm Driven by Pneumatic Muscle Actuators." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/19361357018039516326.

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碩士<br>國立臺灣大學<br>工程科學及海洋工程學研究所<br>100<br>This study aims to investigate the pneumatic muscle actuators (PMA) applied in the pneumatic servo system. In order to figure out the characteristics of PMA, we first design a single-axial PMA system with two PMAs for path-tracking control. Finally, a dual-axial PMAs parallel robotic arm is developed for rotational angle control and end-point path-position control. The rotation of joint is driven by dual PMAs, which means one is in extension another is in contraction. By controlling these two angles, we can control the terminal point position of the robo
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Wu, Jui-Chi, and 吳瑞啟. "The Hybrid Control for a Two Degree of Freedom Arm Actuated by Four Pneumatic Muscle Actuators." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/12941128464726675724.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>94<br>Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, it is widely applied to industrial automation or rehabilitation engineering. Due to compressibility of air and the nonlinear elasticity of bladder container caused parameter variation, it can not attain excellent control performance. In this study, the two degree of freedom arm actuated by four pneumatic muscle actuators is used as a rehabilitation robot. We use four intelligent controllers to implement synchronous control of angle and e
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Hsu, Wei-Chan, and 徐維謙. "Design and Control of a 2-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuators." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/36748708216125412697.

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碩士<br>國立臺灣大學<br>工程科學及海洋工程學研究所<br>102<br>During the second half of the 20th century, assistive robotics and exoskeletons appeared as a new type of robots that can either provide assistive support for patients with impaired limbs or augment the strength of human beings. Although electromagnetic motors may be the most widely used actuators in the robotic area, pneumatic actuators have their own advantages, such as lightness, cleanness and easy maintenance. Of all the pneumatic actuators, pneumatic artificial muscles (PAMs) may be the most promising one for the design of assistive or rehabilitatio
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Chiang, Yu-liang, and 江友良. "Development of a Pneumatic-Fluidic Muscle Hybrid Servo Positioning System with Large Stroke and Micrometer Accuracy." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/03723776135021120146.

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碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>96<br>This thesis aims to develop an intelligent hybrid pneumatic-muscle fluidic single axis platform with large stroke and mircometer precision. In the axis the pneumatic servo system serves to position in coarse stroke and the fluidic muscle actuator (FMA) compensates fine stroke. This single-axis system is constituted with a rodless cylinder and a fluidic muscle actuator combined. The thesis focuses on the study of the positioning control of axis and the characteristics of variant size of fluidic muscles. The fuzzy sliding mode controller (FSMC) is used to dev
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Liang, Jui-Lin, and 梁瑞霖. "Design and Control of a 1-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuator." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/91905359477779699057.

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碩士<br>國立臺灣大學<br>工程科學及海洋工程學研究所<br>101<br>Pneumatic artificial muscles (PAM) inherit all the advantages provide by the conventional pneumatic actuators. Due to the structure and the material of PAMs, they possess a special property of compliance. Thus, they are suitable for the devices that have directly interaction with human such as exoskeletons and rehabilitation equipment. However, the compressibility of air and other nonlinearities result in the difficulty to describe pneumatic system accurately with mathematical model and control them. This thesis focuses on the application of PAMs on the
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Wu, Kuo-Shien, and 吳國賢. "Adaptive Sliding Controller with Self-tuning PD Compensation for Pneumatic Muscle Active Vehicle Suspension System Control." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/99f9b3.

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碩士<br>龍華科技大學<br>電機工程系碩士班<br>107<br>The objective of this thesis was to design an adaptive sliding mode controller for use in active suspension systems with pneumatic muscle actuator (PMA) and to then conduct relevant research experiments. The PMA system is a highly nonlinear and time-variant system because of the various properties of air, such as its compressibility, low viscosity, low natural frequency, the hysteresis of proportional valve coils, zero drift, and the dead band in valve movements. Therefore, establishing a precise mathematic model based on the dynamic characteristics of the PM
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Chase, Jérémie Eric. "The Impact of a Single Intermittent Pneumatic Compression Bout on Performance, Inflammatory Markers, and Myoglobin in Football Athletes." 2017. http://hdl.handle.net/1993/32045.

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Intermittent Pneumatic Compression (IPC) use as a tool for recovery after exercise has recently become widespread among athletes. While there is strong anecdotal support for IPC, little research has been done to show its effectiveness in recovery. Eight collegiate football athletes were recruited and subjected to IPC or control conditions in a randomized crossover manner during off-season training. Countermovement jump (CMJ) and 10m sprint were evaluated before training, at 3 and 24 hours following training. Self-reported soreness, blood markers of inflammation [interleukin-6, interleukin-10,
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Chan, Che-Wei, and 詹哲瑋. "Development of a 2-DOF Lower Limb Robotic System Driven by Dual Pneumatic Artificial Muscle Actuators with Proportional Valves." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/54022427873301194354.

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碩士<br>國立臺灣大學<br>工程科學及海洋工程學研究所<br>104<br>Rehabilitation robots and exoskeletons have increasingly become popular in the field of robotics, since they can not only provide a support for patients with impaired limbs or the elders with difficulty of doing activities for daily living by their own, but also augment the power of able-bodied people. Of all the actuators, pneumatic artificial muscles (PAMs) may be the most promising one due to their inherent compliance, which guarantees safe interactions between the operator and the device. In addition, high power to weight ratio and lightness are also
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LYU, YU-FONG, and 呂宇峯. "Design and Realization of an Enhanced Interval Type-2 Fuzzy Sliding Controller for Pneumatic Muscle Active Vehicle Suspension System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/9a2utj.

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碩士<br>龍華科技大學<br>機械工程系碩士班<br>106<br>This thesis designed an intelligent controller for quarter-car pneumatic muscle active vehicle suspension systems and conducted an experimental study for the proposed controller. Pneumatic muscle servo systems are time-varying systems with high nonlinearity because of numerous factors such as the air compressibility, low viscous damping force, low natural frequency, the friction forces in the system, the valves’ nonlinear characteristics subjected to loading, the hysteresis of proportional solenoids, zero drift, and dead-zone effect during spool movement. As
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Chen, Ying-Chen, and 陳映辰. "Fast Tracking Control of a Dual Pneumatic Muscle Actuated Manipulator based on Neural Network Learning and Fuzzy Sliding Mode Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8b37ft.

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博士<br>國立臺灣科技大學<br>機械工程系<br>106<br>The pneumatic muscle actuator (PMA) is one of the most promising actuators especially for the applications that require greater proximity between the humans and the robots. The advantages of PMA include high power-to-weight and power-to-volume ratios, cleanness, ease of maintenance, pliability, inherent safety, low cost and ready availability. Fast and precise control of PMA, however, is difficult to achieve due to the compressibility of the air and the elasticity of the PMA. In order to achieve accurate and consistent tracking performance of a dual PMA actuat
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Wu, You-Sheng, and 吳宥陞. "Applications of a Parallel Robot Actuated by Pneumatic Artificial Muscle Using Adaptive Fuzzy Sliding Mode Control Based on Orthogonal Functional Approximation." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/97186919882347475964.

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碩士<br>聖約翰科技大學<br>自動化及機電整合研究所<br>101<br>Pneumatic muscle actuators have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as actuators in robots, including industrial robots and therapy robots. It is difficult to achieve excellent control performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder containers causes parameter variations. The paper uses both adaptive fuzzy sliding mode control with orthogonally functional approximation (F
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