Relevant bibliographies by topics / Pneumatic muscle actuator

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers
  5. Reports

Academic literature on the topic 'Pneumatic muscle actuator'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Pneumatic muscle actuator"

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Piteľ, Ján, and Mária Tóthová. "Operating Characteristics of Antagonistic Actuator with Pneumatic Artificial Muscles." Applied Mechanics and Materials 616 (August 2014): 101–9. http://dx.doi.org/10.4028/www.scientific.net/amm.616.101.

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Nonconventional actuators based on the pneumatic artificial muscles can be used in manipulators mainly for their lower energy consumption and higher performance at lower weight. In the paper there are compared the dynamic operating characteristics of the antagonistic actuator with the pneumatic artificial muscles obtained by simulation of the different muscle models in Matlab / Simulink environment with the real measured data on the experimental actuator. The results of these simulations and measurements confirmed highly nonlinear operating characteristics of such actuator and also right approach to the design of the actuator model using different muscle models.
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Budiarto, Eka, Dimas Anindito Widjanarko, and Lydia Kidarsa. "Implementation of Pneumatic Air Muscle for Actuating Knee Exoskeleton Using Four-Bar Linkage." ICONIET PROCEEDING 2, no. 3 (February 13, 2019): 157–63. http://dx.doi.org/10.33555/iconiet.v2i3.27.

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The knee exoskeleton is a device that assists users with weak knees to walk. It consists of a mechanical construction put around the human knee which is equipped with an actuator for movement. One mechanism that can be used to mimic movement of the real knee is the four-bar linkage. This research explores the possibility of using pneumatic air muscles as actuators for a knee exoskeleton with four-bar linkage implementation. A pneumatic air muscle is a single-acting linear actuator that contracts when filled with pressurized air, mimicking muscle contraction. It is much lighter than electrical motors, but—according to characterization done in this research—is difficult to control due to its inconsistent torque output. Nevertheless, this research shows that simple gait movements can be simulated using a knee exoskeleton actuated by pneumatic air muscles with an on-off control scheme.
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Tóthová, Mária, Ján Piteľ, and Jana Boržíková. "Operating Modes of Pneumatic Artificial Muscle Actuator." Applied Mechanics and Materials 308 (February 2013): 39–44. http://dx.doi.org/10.4028/www.scientific.net/amm.308.39.

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The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.
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Odenbach, Robert, Alan Guthrie, and Michael Friebe. "Evaluation of MRI-compatible pneumatic muscle stepper motors." Current Directions in Biomedical Engineering 5, no. 1 (September 1, 2019): 339–41. http://dx.doi.org/10.1515/cdbme-2019-1570538319.

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AbstractThe automation of instruments and tools (e.g. bone drill) or robotic devices (e.g. needle positioning robot for prostate surgery) for use in interventional MRI (iMRI) is still challenging due to a lack of accurate, affordable and completely metal-free actuators and motors. Inspired by biological muscles, a bionic equivalent known as the fluid muscle actuator (which can be operated pneumatically or hydraulically) is well-known in the mechanical engineering industry. Fluid muscle actuators have multiple beneficial characteristics: they are simple, self-returning, low-friction and can produce relatively high actuation forces at low diameters and pressures. We present two novel designs for metal-free, pneumatic stepper motors for potential application in iMRI. Our stepper motors are powered by simple pneumatic muscles, which are assembled from low-cost off-the-shelf components. Besides, the components of the stepper motor demonstrators were 3Dprinted using a stereolithographic additive manufacturing process (SLA printing). We evaluate the effect of pneumatic muscle length on contractile force and length. Our results demonstrated the functional feasibility of the pneumatic muscle-powered and fully MRI-compatible stepper motor designs. In a next step, we will optimize the motor´s design, characterize their performance and reliability, and use the stepper motors to power a micropositioning device in iMRI-phantom tests.
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Zhang, Xiaotian, and Girish Krishnan. "A nested pneumatic muscle arrangement for amplified stroke and force behavior." Journal of Intelligent Material Systems and Structures 29, no. 6 (September 22, 2017): 1139–56. http://dx.doi.org/10.1177/1045389x17730920.

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This article presents a compact nested architecture to amplify the displacement and forces of pneumatic artificial muscles for potential use in human assistive devices and other robotic applications. The nested architecture consists of several levels in series, and each level is made up of contracting pneumatic muscles, passive force transfer members, and additively manufactured interconnects. The stroke obtained from the nested pneumatic artificial muscle architecture is not always beneficial and is limited by the length-dependent behavior of pneumatic artificial muscles and other practical manufacturing constraints such as the size of the interconnects. Thus, this article studies the effect of the pneumatic artificial muscle length on its stroke using a modified constrained volume maximization formulation, which predicts the actual shape of the deformed pneumatic artificial muscle, and models additional stiffness due to membrane bending. Using this formulation, a framework is presented to optimally design the number of nested levels and individual actuators in each level to obtain a required stroke. Such a system is designed to actuate the human elbow by an angle of 80°, where almost 40% contraction is obtained using custom-manufactured pneumatic artificial muscles inherently capable of contracting upto 17% of its length. The framework can be used to amplify the stroke and forces of any pneumatic artificial muscle actuator and adapt it to different application requirements.
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Saga, N., J. Nagase, and T. Saikawa. "Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles." Applied Bionics and Biomechanics 3, no. 3 (2006): 191–97. http://dx.doi.org/10.1155/2006/427569.

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This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.
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Noritsugu, Toshiro. "Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot." Journal of Robotics and Mechatronics 9, no. 1 (February 20, 1997): 7–13. http://dx.doi.org/10.20965/jrm.1997.p0007.

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A human-robot coexisting system requires the essential function such as safety and flexibility which are not common in general industrial robots. To build up such a robot system, an inherently flexible actuator must be effectively used rather than a conventional rigid actuator. A pneumatic actuator seems just available as such a human friendly actuator. In this paper, a property of the flexibility of pneumatic actuator is analyzed compared with a DC electric motor. Also the application of a pneumatic rubber artificial muscle actuator to a rehabilitation robot is discussed. The results show that a pneumatic actuator can well work as one of human friendly actuators with cooperation of a proper control strategy.
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Chen, Yinglong, Junhao Zhang, and Yongjun Gong. "Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism." Actuators 9, no. 4 (October 21, 2020): 107. http://dx.doi.org/10.3390/act9040107.

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The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude.
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Hošovský, Alexander, and Kamil Židek. "Experimental Validation of Nominal Model Characteristics for Pneumatic Muscle Actuator." Applied Mechanics and Materials 460 (November 2013): 1–12. http://dx.doi.org/10.4028/www.scientific.net/amm.460.1.

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Pneumatic artificial muscles belong to a category of nonconventional pneumatic actuators that are distinctive for their high power/weight ratio, simple construction and low price and maintenance costs. As such, pneumatic artificial muscles represent an alternative type of pneumatic actuator that could replace the traditional ones in certain applications. Due to their specific construction, PAM-based systems have nonlinear characteristics which make it more difficult to design a control system with good performance. In the paper, a gray-box model (basically analytical but with certain experimental parts) of the one degree-of-freedom PAM-based actuator is derived. This model interconnects the description of pneumatic and mechanical part of the system through a set of several nonlinear differential equations and its main purpose is the design of intelligent control system in simulation environment. The model is validated in both open-loop and closed-loop mode using the measurements on real plant and the results confirm that model performance is in good agreement with the performance of real actuator.
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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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Dissertations / Theses on the topic "Pneumatic muscle actuator"

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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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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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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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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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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 pressure loss and the limitation of PAM elongation that have been identified. This thesis aims to develop a hyperelastic tubular soft composite that replicates the distinctive mechanical behaviour of the PAM without the need for internal pressurization. The final soft composite solution was achieved by impregnating a prefabricated polyethylene terephthalate braided sleeve, held at a high initial fibre angle, with a silicone prepolymer. A comprehensive experimental evaluation was performed on numerous prototypes for a variety of customizable design parameters including: initial fibre angle, silicone stiffness, and braided sleeve style. Moreover, two separate analytical models were formulated based on incompressible finite elasticity theory using either a structural model of Holzapfel’s type, or a phenomenological model of Fung’s type. Both models were in good agreement with the experimental data that were collected through a modified extension-inflation test. This research has successfully developed, tested, and validated an innovative soft composite that can achieve specific mechanical properties, such as contraction distance and nonlinear stiffness, for optimal use in human motion assistive devices.
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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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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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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 is because a wearable robot should be human friendly, therefore, it should be light weight, slim, powerful, and simple. In this paper, a novel pneumatic artificial muscle using soft materials including integrated electronics for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. Compared to traditional pneumatic muscle actuators such as the McKibben actuator and new soft actuators that were recently proposed, the novel actuator overcomes shortcomings of prior work. This is due to the actuator's very high contraction ratio that can be controlled by the manufacturing process. In this paper, we describe the design, fabrication, and evaluation of a novel pneumatic actuator that can accommodate integrated electronics for displacement and pressure measurements used for data analysis and control. The desired performance characteristics for the actuator were 100 ~ 400N at between 35kPa and 105kPa, and upon testing we found almost 120 ~ 300N which confirms that these actuators may be suitable in soft exoskeleton applications with power requirements comparable to rigid exoskeletons. Furthermore, a novel soft pneumatic elbow exoskeleton based on the pneumatic actuator concept and manufacturing process is presented. Each structure is designed and manufactured with all fabric. The distally-worn structure is only 300g, which is light weight for an arm exoskeleton, and the design is simple, leading to a low materials cost.
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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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Book chapters on the topic "Pneumatic muscle actuator"

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Huang, Xiang, Hai-Tao Zhang, Dongrui Wu, and Lijun Zhu. "Interval Type-2 Fuzzy Control of Pneumatic Muscle Actuator." In Intelligent Robotics and Applications, 423–31. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-97586-3_38.

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Xie, Shenglong, Jiangping Mei, Haitao Liu, and Panfeng Wang. "Motion Control of Pneumatic Muscle Actuator Using Fast Switching Valve." In Lecture Notes in Electrical Engineering, 1439–51. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_114.

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Tóthová, Mária, Ján Pitel’, and Alexander Hošovský. "Simulation of Hybrid Fuzzy Adaptive Control of Pneumatic Muscle Actuator." In Advances in Intelligent Systems and Computing, 239–46. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-18503-3_24.

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Kopecny, L., and L. Zalud. "Measurements for the Thermodynamic Model of a Pneumatic Muscle Actuator." In Smart Sensors, Measurement and Instrumentation, 359–76. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-10948-0_18.

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Tóthová, Mária, and Alena Vagaská. "Torque Characteristics of Antagonistic Pneumatic Muscle Actuator with an Oval Cam." In Advances in Intelligent Systems and Computing, 92–99. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-57264-2_9.

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Shen, Tong, and Jian Huang. "High Gain Finite-Time Trajectory Tracking Control of Pneumatic Muscle Actuator." In Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019), 777–87. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-15-0474-7_73.

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Ke, Da, Qingsong Ai, Wei Meng, Congsheng Zhang, and Quan Liu. "Fuzzy PD-Type Iterative Learning Control of a Single Pneumatic Muscle Actuator." In Intelligent Robotics and Applications, 812–22. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65292-4_70.

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Yashas, M., Antonio Dylan Do Rosario Carvalho, P. Navin Karanth, and Vijay Desai. "Design and Fabrication of a Test Rig for Performance Analysis of a Pneumatic Muscle Actuator." In Lecture Notes in Mechanical Engineering, 33–45. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4739-3_3.

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Deaconescu, Andrea, and Tudor Deaconescu. "Bio-Inspired Pneumatic Muscle Actuated Robotic System." In Intelligent Automation and Systems Engineering, 27–40. New York, NY: Springer New York, 2011. http://dx.doi.org/10.1007/978-1-4614-0373-9_3.

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Draghici, Mihai Petru, Calin Rusu, Alin Plesa, Radu Balan, and Sorin Besoiu. "Control Method Comparison for Pneumatic Artificial Muscle Actuators." In The 11th IFToMM International Symposium on Science of Mechanisms and Machines, 351–59. Cham: Springer International Publishing, 2013. http://dx.doi.org/10.1007/978-3-319-01845-4_35.

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Conference papers on the topic "Pneumatic muscle actuator"

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Jouppila, V., and A. Ellman. "Multiplexed Force Control of Pneumatic Muscles." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-13645.

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Pneumatic actuators are often used in applications that require high power-to-weight ratio, combined with low price and clean and fast operation. However, due to the compressibility of air and highly nonlinear behavior of seal friction, the position and force control of these actuators is difficult to manage. As a result, pneumatic cylinders have been used for many years solely in simple repetitive tasks requiring only a very limited amount of system control. Nonetheless, the pneumatic actuators have properties such as compactness, high power-to-weight ratio, and simplicity that are desirable features in advanced robotics. To overcome the shortcomings, a number of advanced pneumatic components have been developed, of which the most promising is the pneumatic muscle. Compared to a cylinder, a pneumatic muscle not only has a higher power-to-weight and power-to-volume ratio but it is also almost frictionless and has zero leakage. In spite of the muscle actuator's nonlinear force-to-contraction characteristics, many motion and force control methods have been successfully applied to it. The characteristics of the actuator enable it to be used in simple positioning systems and as a variable gas spring. The actuator's almost linear pressure-to-force ratio is extremely well-suited to a variety of gripping and pressing applications. Due to the muscle actuator's characteristics and recent developments in pneumatic valve technology, there is an opportunity to share a single pressure control servo valve among multiple muscle actuators. The multiplexed control of the actuators with only one servo valve reduces the system costs significantly. In this paper we investigate the feasibility of employing multiplexed force control of four pneumatic muscle actuators. In the system, pressure is controlled by a single proportional pressure valve. High-speed switching valves are used for activating the pressure control for each muscle actuator in the desired manner. Pneumatic cylinders are attached to the other ends of the muscles in order to cause controllable position disturbances. The displacement, force and pressure of each muscle are measured with appropriate sensors. The system behavior is investigated under position disturbances.
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Zheng, Hao, and Xiangrong Shen. "Concept, Design, and Application of Sleeve Muscle Actuator." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34720.

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Sleeve muscle is a new class of pneumatic muscle actuator that provides significant performance improvement and new design characteristics in comparison with the traditional pneumatic muscle. Inspired by the force-generating mechanism of traditional pneumatic muscle, the sleeve muscle incorporates a unique insert structure to eliminate the loss of extension force capacity due to the air pressure applied to the moving end connector. Two types of sleeve muscle are presented in this paper, including a single-acting type that enables the integration of the actuator with the load bearing structure, and a double-acting type that provides a unique capability of bi-directional actuation. The designs of these sleeve muscle actuators are discussed, along with their potential applications in bio-robotic systems.
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Waycaster, Garrett, Sai-Kit Wu, and Xiangrong Shen. "A Pneumatic Artificial Muscle Articulated Knee Prosthesis." In ASME 2010 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2010. http://dx.doi.org/10.1115/sbc2010-19536.

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This paper describes the mechanical design and control approach for an above-knee (AK) prosthesis actuated by pneumatic artificial muscle. Pneumatic artificial muscle (PAM) affords great potential in prosthetics, since this type of actuator features a high power density, and similar characteristics to human muscles. However, there is no application of PAM in AK prosthetics in existing literature to the best knowledge of the authors. In this paper, a design of the prosthesis is presented, which provides sufficient actuation torque for the knee joint in energy consuming locomotive functions such as fast walking and stair climbing. The corresponding control approach is developed to mimic the human motor control in locomotive functions, which includes a lower-level equilibrium-point hypothesis-inspired motion controller, and a higher-level joint-behavior-based motion planner.
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Waycaster, Garrett, Sai-Kit Wu, and Xiangrong Shen. "A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4097.

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This paper describes the mechanical design and control approach for an above-knee (AK) prosthesis actuated by pneumatic artificial muscle. Pneumatic artificial muscle (PAM) affords great potential in prosthetics, since this type of actuator features a high power density, and similar characteristics to human muscles. However, there is no application of PAM in AK prosthetics in existing literature to the best knowledge of the authors. In this paper, a design of the prosthesis is presented, which provides sufficient actuation torque for the knee joint in energy consuming locomotive functions such as fast walking and stair climbing. The corresponding control approach is also presented, which combines an impedance-based locomotive controller with a lower-level sliding-mode torque control approach. Experiments on the proposed AK prosthesis have also been conducted to demonstrate the ability to mimic normal gait characteristics.
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Jouppila, Ville, and Asko Ellman. "Position Control of PWM-Actuated Pneumatic Muscle Actuator System." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-63370.

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Pneumatic servo positioning systems have been in use for long time and subject to wide spectrum of studies due to their numerous advantages: inexpensive, clean, safe and high ratio of power to weight. However, the compressibility of air and the inherent non-linearity of these systems continue to make achieving accurate position control a real challenge. Conventional pneumatic servo systems are based on cylinder actuators that are difficult to control precisely due to the aforementioned nonlinearities as well as the nonlinear behavior of the air flow through the valve, the friction between the cylinder and the piston, and the stick slip effect at the low velocity of the system. In this paper, a position servo control system using a pneumatic muscle actuator is studied. Pneumatic muscle actuator is a novel type of actuator which has even higher force to weight ratio than the cylinder. In addition, muscle actuator introduces a stick slip free operation giving an interesting option for positioning systems. However, significant hysteresis and position dependant force result in a highly nonlinear system, a real challenge for good control performance. In this paper, pneumatic muscle actuator is controlled by a low-cost on/off valve with PWM-strategy instead of costly servo or proportional valve. The main processes of the system, including flow dynamics, pressure dynamics, force dynamics and load dynamics are derived to provide a full nonlinear model that captures all the major nonlinearities of the system. This model is used for analyzing and tuning the controller performances by simulations before implementing in the real system. In addition, a recently introduced method of using bipolynomial functions to model the valve flow rate is utilized to provide a continuous and invertible description of flow for controller designs. A proportional plus velocity plus acceleration controller with feed-forward component (PVA+FF) is designed based on the linearized system model. For a comparison, a sliding mode controller (SMC) based on linear as well as non-linear system model are designed. The performance of the designed controllers is studied by simulations. The stability and performance analysis includes the effects of friction modeling error and valve modeling error. The robustness of the controllers is tested by varying the payload mass of the system.
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Kopecny, L., and L. Zalud. "Hybrid electro-pneumatic robotic arm - integration of pneumatic muscle actuator." In 2011 IEEE/SICE International Symposium on System Integration (SII 2011). IEEE, 2011. http://dx.doi.org/10.1109/sii.2011.6147523.

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7

Wu, Molei, Hao Zheng, and Xiangrong Shen. "Double-Acting Sleeve Muscle: Concept and Example Application in Powered Prostheses." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51052.

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Pneumatic muscle actuator is a type of muscle-like actuator that mimics human skeletal muscle action through an airtight elastic tube. This unique type of actuator is able to generate a large output force with a very lightweight structure, and thus has been used in various robotic systems. In this paper, the authors further expand the performance and functionality of pneumatic actuator by introducing a unique modification to the actuator structure. Specifically, a telescoping insert is integrated to the center of the actuator. This insert serves dual purposes. First, by eliminating the central space in the pneumatic muscle, this structural change increases the force output and reduces the energy consumption of the actuator. Second, the insert incorporates an additional pneumatic chamber at the center of the actuator, which enables the actuator to generate an extension force and become a double-acting actuator. Comparative experimental results demonstrated the advantages of the new actuator over the traditional pneumatic muscle with respect to the actuation force over the entire range of motion. Furthermore, a design example, knee actuation mechanism in a powered leg prosthesis, is presented to illustrate the application of the new actuator. To provide the desired performance, a double-acting sleeve muscle drives the knee joint through an inverted crank-slider mechanism. A graphic comparison shows that the actuation system is able to provide sufficient torque to support a 75 kg user’s level walking and stair climbing.
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Al-Ibadi, Alaa, Samia Nefti-Meziani, and Steve Davis. "A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404889.

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Hunt, Alexander J., Alexander Graber-Tilton, and Roger D. Quinn. "Modeling Length Effects of Braided Pneumatic Actuators." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67458.

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Braided pneumatic actuators (BPAs) are attractive for use in bio-robots because they offer many muscle-like properties, especially when compared to most other commercially available robotic actuators. Unfortunately, the same properties that make these actuators similar to muscles make them more difficult to control. One such actuator manufactured by Festo, the MXAM-10-AA, is frequently utilized in robotics because of its commercial availability, durability, and force capability. Although models for BPAs exist, the properties that make this actuator more durable also make its behavior less like other braided pneumatic actuators, especially for shorter actuator lengths. Length specific models that do exist for Festo fluidic muscles have numerous parameters that can only be found experimentally by taking hundreds to thousands of data points and performing a lengthy optimization process to fit parameter values for each actuator in the system. This lack of generalizability makes it difficult to build a new robot and begin testing new control systems without significant startup time and cost. The key contribution of this work is the development of a generalizable actuator model that accounts for the geometry and limitations of the actuator at shorter lengths. This empirical model relates internal pressure, strain, stretching or contracting state, and applied force on the MXAM-10-AA actuator. The model is scalable to different length actuators by measuring their resting length at zero pressure and their minimum contraction length at maximum air pressure, and can be used for feedforward length control. The model is evaluated on a robot leg with three joints and 6 actuators, each with different length. The developed controller, using the actuator model, controls the joints to within ± 3 degrees of the desired position for different desired torques only using internal actuator pressure feedback. We also demonstrate control speed by cycling a joint over 40 degrees of rotation at varying frequencies.
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Kato, Tomonori, Kazuki Sakuragi, Mingzhao Cheng, Ryo Kakiyama, Yuta Matsunaga, and Manabu Ono. "Development of Miniaturized Rubber Muscle Actuator Driven by Gas-Liquid Phase Change." In BATH/ASME 2016 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/fpmc2016-1702.

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The goal of this study is to develop a miniaturized artificial muscle in which a tiny compressor can be installed. Pneumatic actuators, such as pneumatic artificial rubber muscles (PARMs), have been widely used in many industrial and robotic research applications because they are compact and lightweight. However, the compressors driving such actuators are relatively large. To solve this problem, the authors have been researching soft actuators driven by gas-liquid phase changes (GLPCs). In this study, a fixed chamber containing a constantan heater and fluorocarbon was used to generate pressure instead of a compressor. The pressure generation caused by the GLPC was confirmed, and a PARM contraction experiment was then conducted. Additionally, a PI control system was built to test the step and frequency responses of the actuator. A frequency response of up to 4.0 Hz was determined, and the corner frequency was found to be approximately 1.5 Hz. The size of the actuator was reduced by removing the chamber and installing the heater in the rubber muscle. A PARM driving experiment was conducted, and the performance of the PARM was evaluated. The miniaturized actuator consumes less power than the original actuator.
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Reports on the topic "Pneumatic muscle actuator"

1

Lilly, John H. Pneumatic Muscle Actuator Control. Fort Belvoir, VA: Defense Technical Information Center, February 2004. http://dx.doi.org/10.21236/ada420339.

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2

Purasinghe, Rupa, Maria Feng, and Masanobu Shinozuka. Development of High Performance Pneumatic Muscle Actuator Systems. Fort Belvoir, VA: Defense Technical Information Center, November 1999. http://dx.doi.org/10.21236/ada415587.

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