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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.Master of Science
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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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Irshaidat, M. M. "Design and implementation of a novel lightweight soft upper limb exoskeleton using pneumatic actuator muscles." Thesis, University of Salford, 2018. http://usir.salford.ac.uk/48758/.
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Stroke is the leading cause of disability and weakness in the UK and around the world. Thus, stroke patients require an extensive rehabilitation therapy to regain some of the weaknesses. Many rehabilitation robotic devices have been designed and developed to assist the stroke patients to perform their activities of daily living and to perform repetitive movements. However, these devices remain unmanageable to use by the patients alone not only because they are cumbersome to use but also due to their weights, rigid, fix and non-portable characteristics. Thus there is a need to invent a novel exoskeleton soft arm that has a lightweight and a high power to rehab the elbow joint with lower cost and without the need to therapists. Here for elbow joint rehabilitation, we investigate and propose a novel exoskeleton soft robotic arm, which is wearable, lightweight and portable so that it would allow patients to perform repetitive motion therapy more often with a greater intensity in their homes and relevant to their Activities of Daily Living (ADL). The proposed arm consists of various bending pneumatic muscle actuators (pMA), where traditional pMA are not suitable. Testing on various pMA (traditional and bending) revealed its behaviour and the relationship between pressure, length, force, and bending angle in different setups such as isotonic and isometric. Experiments are done to analyse its non-linear behaviour, moreover, geometrical and numerical models are compared to the experimental results to validate the results. A developed control approach to control the soft arm is implemented to validate the design. Model reference adaptive control (MRAC) to control the arm using (Proportional, Integral, and Derivative) PID controller as an input for MRAC. Neural Network (NN) is also used in MRAC to improve the performance of MRAC.
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RAMOS, JOAO LUIZ ALMEIDA DE SOUZA. "TORQUE CONTROL OF AN EXOSKELETON ACTUATED BY PNEUMATIC ARTIFICIAL MUSCLES USING ELECTROMYOGRAPHIC SIGNALS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=22293@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
A robótica aplicada à reabilitação e amplificação humana está em uma fase iminente de se tornar parte de nossa vida diária. A justaposição da capacidade de controle humana e o poder mecânico desenvolvido pelas máquinas oferecem uma promissora solução para auxílio físico e de amplificação humana. O presente trabalho apresenta um exoesqueleto ativo para membros superiores controlado por uma alternativa e simples Interface Homem-Máquina (HMI) que utiliza o Modelo Muscular de Hill para aumentar a força e resistência mecânica do usuário. Músculos Pneumáticos Artificiais (PAM) são utilizados como atuadores por sua alta razão entre potência e peso e atuam o sistema através de um esquema com cabos de aço. Algoritmos Genéticos (GA) aproximam localmente os parâmetros do modelo matemático do atuador e o modelo fisiológico do músculo, que utiliza sinais eletromiográficos superficiais (sEMG) para estimar o torque na articulação do exoesqueleto. A metodologia proposta oferece três vantagens principais: (i) reduz o número de eletrodos necessários para monitorar a atividade muscular, (ii) elimina a necessidade de transdutores de força ou pressão entre o exoesqueleto e o usuário ou o ambiente e (iii) reduz o custo de processamento em tempo-real, necessário para implementações de sistemas embarcados. O exoesqueleto é restrito ao membro superior direito e a estratégia de controle é avaliada verificando o desempenho do usuário ao manipular uma carga de 3.1kg estática e dinamicamente com e sem o auxílio do equipamento assistivo.
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and physical enhancement. This work presents an upper limb active exoskeleton controlled by an alternative and simple Human-Machine Interface (HMI) that uses a Hill Muscle Model for strength and endurance amplification. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio and to drive the system through a cable arrangement. Genetic Algorithms (GA) approach locally optimizes the model parameters for the actuator mathematical model and the physiologic muscle model that uses the surface electromyography (sEMG) to estimate the exoskeleton joint torque. The proposed methodology offers three main advantages: (i) it reduces the number of electrodes needed to monitor the muscles, (ii) it eliminates the need for user force or pressure sensoring, and (iii) it reduces the real-time processing effort which is necessary for embedded implementation and portability. The exoskeleton is restricted to the right upper limb and the control methodology is validated evaluating the user performance while dynamically and statically handling a 3.1kg payload with and without the aid of the assistive device.
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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.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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Akyürek, Emre. "Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11671.
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This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself.
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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 sensors, the bulkiness of the overall system is increased, which places limits on the system’s design. Meanwhile, the traditional cylindrical form factor of PAMs limits their ability to remain compact and results in overly complex fabrication processes when embedded fibers and/or sensing elements are required to provide efficient actuation and control. In order to overcome these limitations, this thesis proposed the design of flat pneumatic artificial muscles (FPAMs) capable of being fabricated using a simple layered manufacturing process, in which water-soluble masks were utilized to create collapsed air chambers. Furthermore, hyperelastic deformation models were developed to approximate the mechanical performance of the FPAMs and were verified through experimental characterization. The feasibility of these design techniques to meet the requirements of human centered applications, including the suppression of hand tremors and catheter ablation procedures, was explored and the potential for these soft actuation systems to act as solutions in other real world applications was demonstrated. We expect the design, fabrication, and modeling techniques developed in this thesis to aid in the development of future wearable devices and motivate new methods for researchers to employ soft pneumatic systems as solutions in human-centered applications.
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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 humainDesign, 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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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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碩士輔仁大學
電機工程學系碩士班
104
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) optimization is adopted to assist NN to gain the optimized control parameters for the fuzzy controller. In the second part of thesis, LQR-based optimal controller is designed for the pneumatic-muscle active vehicle suspension system against the road disturbance. Besides, the road profile is employed into the feedforward compensation with the vehicle body control loop so that the suspension control performance can be enhanced. Finally, the experimental results under different road conditions are given to verify the superior performance of the active suspension controller using pneumatic muscle actuators.
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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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碩士國立臺灣大學
工程科學及海洋工程學研究所
101
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 pneumatic servo control systems, including two different designs of PAM systems. One is a single-axial dual-PAM system, and the other is a 1-DOF forearm robotic system driven by a PAM-pair. The single-axial dual-PAM system is controlled by a modified model-free self-tuning PID controller based on neural network, while the 1-DOF forearm robotic system adopts a model-based cascaded controller to control the torque and the rotational angle of the system, which also will become the basis of the related future research in our laboratory. This thesis firstly models the mechanism and the pneumatic components of the 1-DOF robotic system. The modeling approach adopted is proposed by M. Eichhorn , C. Ament, and T. T. Nguyen. To identify the parameter values of the model, a test bed is constructed to measure the relationship among the pressure, the contraction ratio, and the force of the PAMs, and an optimization approach is used to estimate the values of the parameters. Due to the structure of the model, it is easy to calculate the pressure needed to produce a certain desired force under different contraction ratio. With the help of the model, we design a feedforward torque controller. Also, a feedback PID controller is added to compensate the modeling error. Based on the torque controller, impedance control is achieved to compensate the gravity, making the system equivalent to a pure inertia system. Moreover, the combination of feedback linearization and LQR control is integrated with the torque control to control the rotational angle of the forearm robotic system. An LTR observer is designed to estimate the angular velocity and overcome the insufficient resolution of the encoder used in the system. With the overall control system, angle tracking control is successfully achieved. The future research can be made for rehabilitation devices. Under this condition, smoothness is more important than accurate control performance. Thus, the objective to control the forearm robotic system is to track the desired path smoothly while maintaining the error in an acceptable range.
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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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碩士聖約翰科技大學
自動化及機電整合研究所
94
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 controller (4) adaptive self-organizing fuzzy sliding mode controller were employed in the robotic position control. The sliding surface is reduced fuzzy rules. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the model reference adaptive control can be also to adjust on-line scaling factor. The experimental results show that adaptive self-organizing fuzzy sliding mode controller can attain excellent control performance .
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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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
96
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 experimental results show that the ASOFSMC can attain excellently tracking control performance.
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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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
96
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 and flexibility for humans. Reason suggests that the pneumatic muscle actuator (PMA) can potentially contribute to more comfortable devices when interfacing with human limb segments. 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. An adaptive fuzzy sliding mode controller (AFSMC) is developed in this study. Its fuzzy sliding surface can be used to reduce the number of fuzzy rule. A adaptive law is employed to modify on-line fuzzy rules. and to adjust scaling factors. Finally, Lyapunov theorem is employed to prove the stability of the AFSMC. Experimental results show that this control strategy can achieve excellent control performance.
23
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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
98
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 command.
24
Lu, Nien-Wei, and 呂念緯. "Physics-based Modeling of Pneumatic Muscle Actuators." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/fehekh.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
106
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 safer.The use of PMA in assistive devices has potential for development over motors and hydraulic actuators.However,PMA is a highly nonlinear actuator. In order to make PMA have more accurate control, this paper completes the nonlinear dynamic physical model of PMA. Modeling mainly focuses on the performance of PMA,It includes the relationship between force and pressure combine with the elasticity of PMA, the relationship between pressure and mass flow rate, and the relationship between mass flow rate and input voltage.The dynamic model in this paper is single-input-single-output(from the valve command voltage to motion) third-order model system.The three system states are the pressure, displacement, and speed.This paper use the least square method to find out the parameters in the model by using the experimental data.Finally, the accuracy of the model was verified through static experiments and dynamic experiments.The model of the internal difference method has a minimum steady-state error of 11 %under the operating conditions of a trapezoidal wave experimental input pressure of 5 bar and a load of 4.557 kg .The polynomial mathematical model has a minimum steady-state error of 16.8 % under the same conditions.In the future,we will develop the control strategies based on this model.
25
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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
95
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. And then the adaptive law is used to adjust scaling factor. The experimental results show that adaptive self-organizing fuzzy sliding mode controller can attain excellently tracking control performance .
26
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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
94
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 end-effector’s tracking control. From experimental results show that the adaptive fuzzy sliding-mode controller(AFSMC) and the adaptive fuzzy sliding-mode with adaptive scaling factor(AFSMC-ASF) can achieve excellent control performance.
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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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
97
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 obtain control gains;(iii) the high performance of integral controllers; (iv) the workable rigorous proof for exponential convergence of error signals. Experimental results verified that the T-S fuzzy controller can achieve excellent tracking performance.
28
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.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
106
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 customized. The objective of this research is thus to develop a pneumatic muscle actuators of low cost, high power-to-volume ratio and high durability. A physics-based model is adopted for performance analysis and design of the pneumatic muscle actuators. The pneumatic muscle developed in this research includes three major parts: the inner layer elastic tube, the outer layer fiber mesh and the connectors at the two ends. The sizing and material selection of the inner and outer layers are determined based on the experimental results and the physics-based model at various pressure conditions. The parameters related to the elasticity of the pneumatic muscle in the physical model are identified based on the least square method and the overall model is validated against the force measurement at various pressures. From the test results, the developed pneumatic muscle can sustain up to 170 Nt loading under 5 bar working pressure. Durability test results show that, under the test condition of 3 bar working pressure and sinusoidal external load of 100 Nt in amplitude and 0.2 Hz in frequency, the self-made pneumatic muscle maintains its performance after 10,000 test cycles. Specifically, the contraction ratio raises less than 1.59% whereas the elastic force drops less than 16.67%. In the future, the pneumatic muscle can be applied to assistive technologies and control algorithms can be developed based on the physics-based model developed in this work.
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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.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
94
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-organizing fuzzy controller and sliding mode fuzzy controller.
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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.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
96
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 control, Fourier series-based adaptive sliding mode controller with tracking performance is used to control the PMAs through the pressure control servo valves. For ensuring the smooth motion, the path-position control is realized to keep both the transient and steady state response. The simulation and experiment of the path-positioning control, including the single-axis pneumatic muscle actuator and the dual-PMA robot arm are performed and show that the system can achieve high positioning accuracy and excellent tracking performance.
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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.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
100
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 robot arm. In order to control these systems, Fourier series-based adaptive sliding mode controller is used to control the PMAs through the pressure servo valves. For ensuring the smooth motion, the path-position control is chosen to give consideration to transient and steady state response. The simulation and experiment for path-tracking control of single-axial PMAs system and the dual-axial PMAs robotic arm are executed and show that the system can have good tracking performance.
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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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
102
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. For these reasons, PMAs are commonly employed in rehabilitation engineering, nursing and human-friendly therapeutic machine. It is difficult to achieve excellent tracking performance for a single joint driven by PMAs because the system has a highly nonlinear and tine-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. In the paper, a novel adaptive fuzzy sliding mode control (AFSMC) with functional approximation (FA) technique is proposed for controlling the single joint driven by PMAs. From experimental results verify that the proposed approach can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.
33
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.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
102
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 rehabilitation robots because of their inherent compliance and high power to weight ratio, despite their high nonlinearity. This thesis aims to design and control a 2-DOF forearm robotic system actuated by two pairs of PAMs, following the research of [1], as a step toward our future objective of the development of an upper-limb rehabilitation robot. For the purpose of the study, basic biomechanics of the human body is briefly discussed, and then the design as well as the test rig of the robotic system is demonstrated. To understand the properties of the system, the kinematic and dynamic models of the mechanism are derived, followed by the mathematical modeling of the pneumatic components used in the system. These modeling approaches lend themselves to the controller design, in that the pressures of the PAMs that are required to produce a desired force under a certain contraction ratio can be easily calculated, such that a model-based controller can be designed. For the controller design, a torque controller with a model-based feedforward controller and a feedback PID controller is first developed, and then a sliding mode controller is combined with the torque controller to form a joint angle controller. With the help of a velocity observer, a decent velocity signal can be employed for the control of the system. In addition, the estimated disturbance by the disturbance observer is used as a cancellation signal for better angle tracking performance. Simulations are carried out on the elbow joint to test the model and the controller, and experiments are conducted to verify the efficacy of the design and control of the system. The results show that the smooth angle tracking performance can be achieved.
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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.
Full text
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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.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
104
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 ideal features for the applications of human-friendly devices. However, the nonlinearity is the drawback that is required to mitigate for accurate control. The purpose of this study is to develop a dual-PAMs driving 2-DOF robotic system, following with the research of [1] for our future objective of the lower limb rehabilitation robot. The system structure is similar to a human lower limb. The test rig of the dual-PAMs driving 2-DOF robotic system is composed of upper leg, lower leg, and each leg is equipped with a proportional-valve controlled dual-PAMs to reduce the system weight. Since the PAMs is a highly non-linear actuator, it is hard to control the system and derive mathematical model precisely. Therefore, the system is controlled by the modified model-free self-tuning PID controller based on neural network to compensate the nonlinearity and improve the tracking performance. For the 2-DOF motion of lower limb, kinematics and inverse kinematics are derived. Finally, the experimental results indicate that 2-DOF tracking motion control of lower limb of the dual-PAMs driving 2-DOF robotic system can be achieved by the self-tuning PID controller with acceptable control error.
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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.
Full textAbstract:
博士國立臺灣科技大學
機械工程系
106
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 actuated manipulator over a considerably wide range of frequency, an intelligent adaptive control algorithm is first developed in this thesis. The adaptive learning is enabled by a neural network in which the control gains to a fuzzy sliding mode controller (FSMC) and an integrator are adjusted to minimize the tracking error. Experimental results show that the proposed control strategy achieves fast, accurate and consistent performance tracking sinusoidal reference trajectories up to 1~Hz in frequency with the compressed air regulated to 4 bar. Results also show that the proposed control strategy, with a more aggressive learning for the control gain to the FSMC, achieves satisfactory performance tracking a trapezoidal reference trajectory. In order to further improve the control performance tracking of even higher frequencies, a reference input differential feedforward compensator is augmented and the FSMC in the feedback loop with each control gain adjusted by the back-propagation neural network. In the neural network learning algorithm, a radial basis function neural network (RBFNN) is applied to estimate the mathematical model of the dual PMA actuated manipulator. The experimental results show that the proposed radial basis function neural network fuzzy sliding mode control (RBFNNFSMC) strategy achieves accurate tracking of sinusoidal trajectories up to 3 Hz in frequency. The mean absolute error (MAE) achieved by the RBFNNFSMC tracking a sinusoidal trajectory of 3~Hz is about 0.98 degrees.
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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.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
101
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 (FA + AFSMC) and adaptive fuzzy sliding mode control (AFSMC) to control the parallel robot actuated by PAMs including angle tracking control about the X-axis, Y-axis and displacement tracking control about Z-axis. The proposed approach includes AFSMC which can modify the fuzzy rules on-line, and the FA technique is used to estimate unknown parameters. The experimental results indicate that steady-state errors of the angle tracking are reduced 0.225mm, sine wave tracking errors of the displacement are reduced 0.92% in maximum amplitude, and phase lag decreased 0.52 degrees. Therefore, the proposed approach has excellent tracking control performance.
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Ανδρικόπουλος, Γεώργιος. "Ανάπτυξη εφαρμογών βιομηχανικού αυτοματισμού με προγραμματιζόμενο λογικό ελεγκτή." Thesis, 2010. http://nemertes.lis.upatras.gr/jspui/handle/10889/3044.
Full textAbstract:
Η διπλωματική εργασία συνίσταται στην κατασκευή και λειτουργία, μέσω προγραμματισμού, μιας πειραματικής διάταξης αυτοματισμού που περιλαμβάνει εξοπλισμό όπως πνευματικά έμβολα κλατικού τύπου ή τύπου μυών, αισθητήρες θέσης κλπ.- είτε ανεξάρτητα είτε συνδυασμός αυτών - και έναν Προγραμματιζόμενo Λογικό Ελεγκτή (PLC) που ελέγχει τη λειτουργία της διάταξης. Το κομμάτι του προγραμματισμού αναφέρεται στο PLC.
Η πειραματική διάταξη αυτοματισμού που κατασκευάστηκε είναι ένας μηχανικός αναρριχητής. Η διάταξη αναρρίχησης αποτελείται απο 4 έμβολα / τεχνητούς μύες πεπιεσμένου αέρα προσαρμοσμένα στο ένα τους άκρο σε μια κοινή βάση (σώμα του αναρριχητή). Στο άλλο άκρο υπάρχει κατάλληλος μηχανισμός ολίσθησης που τους επιτρέπει να κινηθούν πάνω στην επιφάνεια των κάθετων δοκών αλουμινίου που συνθέτουν τη διαταξη προς αναρρίχηση. Κάθε μηχανισμός ολίσθησης διαθέτει μικρό έμβολο πεπιεσμένου αέρα με χρήση του οποίου επιτυγχάνουμε την παύση της ολίσθησης του άκρου. Η συνδυασμένη και διαδοχική έκταση-συστολή των εμβόλων προκαλεί την κίνηση προς τα πάνω ή προς τα κάτω του σώματος, το οποίο μιμείται κατά έναν τρόπο την αναρρίχηση του ανθρώπου σε σκάλα. Η λειτουργια της διάταξης έχει σχεδιαστεί έτσι ώστε ο αναρριχητής να φθάνει στο επιθυμητό ύψος το οποίο και θα ορίζεται απο τον χρήστη.
Η αναρρίχηση στο επιθυμητό σημείο μπορεί να εκτελεστεί με τέσσερις (4) διαφορετικους τροπους:
1) Αναρρίχηση με λειτουργία μόνο των άνω άκρων.
2) Αναρρίχηση με λειτουργία μόνο των κάτω άκρων.
3) Αναρρίχηση με ταυτόχρονη λειτουργία των άνω και κάτω άκρων.
4) Αναρρίχηση με λειτουργία των άνω & κάτω άκρων και PID έλεγχο θέσης.
Ο χρήστης έχει τη δυνατότητα να ορίσει το επιθυμητό σημείο θέσης και να διαλέξει ένα από τα τέσσερα μοτίβα ανάβασης. Στα τρία πρώτα μοτίβα η έκταση και συστολή των μυών γίνεται με χρήση προκαθορισμένων τιμών πίεσης. Με αυτό το τρόπο για τα τρία αυτά σενάρια κίνησης ο έλεγχος θέσης προσεγγίζει τη διακοπτική ON/OFF θεωρία ελέγχου. Στο τέταρτο σενάριο, η ανάβαση πραγματοποιείται επίσης με το διακοπτικό ON/OFF τρόπο, ο τελικός όμως έλεγχος θέσης επιτυγχάνεται με χρήση PID ελεγκτή. Μετά την ολοκλήρωση ή και κατά την διάρκεια εκτέλεσης του εκάστοτε μοτίβου κίνησης, ο χρήστης έχει επίσης την δυνατότητα ενεργοποίησης της ρουτίνας κατάβασης που επιστρέφει τον αναρριχητή στην αρχική του θέση.This Diploma Thesis consists of the construction and operation, through the means of programming, of an experimental automated system which includes equipment such as pneumatic cylinders (classic or muscle type), position sensors etc. - combined or independent – and a Programmable Logic Controller (PLC) which controls the functions of the automated system. The programming part is referred to the PLC. The experimental automated system that was constructed is that of a mechanical climber. The climber consists of 4 pneumatic cylinders / artificial muscles, the one end of which is attached to a common body. The other end is attached to a sliding mechanism which allows the movement of the muscles on the surface of the vertical aluminum beams that compose the climbing structure. A small pneumatic cylinder is attached on every sliding mechanism, which is used to stop the sliding of the muscles. The combined and successive outstroke and instroke of the cylinders causes the upward or downward movement of the climber’s body, which mimics in a way the movements of a human body while climbing a ladder. Those functions are designed so that the mechanical climber reaches a desired height, which is set by the user. The climb to the desired height can be executed with four (4) different movement patterns: 1) Climb using only the upper limbs. 2) Climb using only the lower limbs. 3) Climb using the upper and lower limbs simultaneously. 4) Climb using the upper and lower limbs and PID position control. The user can set the desired height and choose one of the four movement routines. During the first three movement patterns, the instroke and outstroke of the cylinders is done with the use of predetermined pressure values. In this way, during those patterns the position control approximates the ON/OFF control theory. During the fourth movement pattern, the climb is executed with the same ON/OFF way but the final position control is done by use of a PID controller. After the completion of a movement pattern, or even during movement, the user can always enable the descendance movement routine which returns the climber to its former position.
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Γιαννίκος, Γεώργιος. "Μελέτη, κατασκευή και έλεγχος (με PLC) συστήματος ολισθαίνουσας συστοιχίας πνευματικών μυών." Thesis, 2013. http://hdl.handle.net/10889/6710.
Full textAbstract:
Η προσομοίωση της κίνησης των ζώων αποτελεί αντικείμενο έρευνας στον τομέα της ρομποτικής από το 1960. Έκτοτε έχουν κατασκευαστεί πολλά ρομπότ τα οποία εξομοιώνουν πλήρως την κίνηση των θηλαστικών, των πτηνών και των ερπετών και συμπεριφέρονται ακριβώς όπως αυτά. Συγκεκριμένα στον τομέα των ερπετών ο Hirose το 1972 παρουσίασε το τον ACMIII, το πρώτο φίδι ρομπότ, το οποίο μπορούσε να κινηθεί μόνο σε λεία επιφάνεια, προσομοιώνοντας την κίνηση του φιδιού. Εν συνεχεία, με την πρόοδο της τεχνολογίας και τον πνευματικό κόπο χιλιάδων επιστημόνων, κατασκευάστηκαν διάφορα εξελιγμένα μοντέλα ρομπότ-φιδιών με τεράστιες δυνατότητες. Αποτελεί, πλέον, πραγματικότητα η ύπαρξη ρομπότ-φιδιών, που μπορούν να κινηθούν σε οποιαδήποτε επιφάνεια.
Στη διπλωματική αυτή πραγματοποιήθηκε η κατασκευή και η λειτουργία ενός σύνθετου ενεργοποιητή αποτελούμενου από μια συστοιχία πνευματικών μυών πεπιεσμένου αέρα και ελεγχόμενου μέσω ενός προγραμματιζόμενου λογικού ελεγκτή (PLC). Τα έμβολα συνδέονται μεταξύ τους είτε με σταθερή είτε με ελεύθερη άρθρωση επιτρέποντας στη συστοιχία να κινηθεί ευθύγραμμα ή καμπυλόγραμμα αντίστοιχα.
Κατά την ευθύγραμμη κίνηση η κατασκευή αποτελείται από 7 τεχνητούς μύες, οι οποίοι συνδέονται μεταξύ τους με σταθερή άρθρωση και τροφοδοτούνται από ψηφιακές βαλβίδες. Επίσης, η συστοιχία είναι εφοδιασμένη με μια συμπαγή σιδερένια κατασκευή ως ουρά και έναν αυτοσχέδιο μηχανισμό φρένων. Ο χρήστης, αφού φορτώσει το αντίστοιχο πρόγραμμα στην CPU του PLC, με το πάτημα ενός μπουτόν ξεκινά την κίνηση της διάταξης. Στο πρόγραμμα αυτό χρησιμοποιείται ένα πλήθος από χρονομετρητές οι οποίοι καθορίζουν πότε πραγματοποιείται η διαστολή και η συστολή των εμβόλων ρυθμίζοντας έτσι τη συμπεριφορά του πνευματικού ενεργοποιητή. Στην παρούσα διπλωματική αναλύθηκαν 3 μοτίβα ευθύγραμ-μης κίνησης. Στο πρώτο μοτίβο η συστολή και η διαστολή είναι ανεξάρτητες, στο δεύτερο έχουμε διαδοχική συστολή/διαδοχική διαστολή και στο τρίτο η διαστολή επικαλύπτει τη συστολή. Η διακοπή της κίνησης γίνεται μέσω του μπουτόν λήξης.
Για το σενάριο της οφιοειδούς και της πλάγιας κίνησης η κατασκευή αποτελείται από 5 τεχνητούς πνευματικούς ενεργοποιητές. Οι 4 χρησιμοποιούνται ως ενεργό μέρος της συστοιχίας, ενώ ο πέμπτος ως κεφαλή. Ανάμεσα στα έμβολα υπάρχει αρθρωτή ζεύξη με δυνατότητα κίνησης. Έτσι, κατά τη συστολή και την διαστολή των μυών δημιουργείται μια γωνία μεταξύ τους. Ρυθμίζοντας αυτή τη γωνία κατάλληλα μέσω της πίεσης επιτυγχάνουμε την οφιοειδή κίνηση του σύνθετου πνευματικού ενεργοποιητή. Ο χρήστης μέσω μπουτόν έχει τη δυνατότητα να ελέγχει την κίνηση της συστοιχίας. Επιλέγει την έναρξη και τη λήξη της κίνησης καθώς και το αναποδογυρίζει.
Στην ευθύγραμμη κίνηση εστιάσαμε την προσοχή μας στην εύρεση του βέλτιστου πλάνου κίνησης ώστε να επιτευχθεί το γρηγορότερο αποτέλεσμα. Από την άλλη μεριά στην καμπυλόγραμμη κίνηση τα πράγματα δεν ήταν τόσο απλά. Κύριο ζητούμενο εδώ ήταν η προσομοίωση της οφιοειδούς κίνησης. Η αδυναμία εφαρμογής του θεωρητικού υπόβαθρου που ήδη υπάρχει για τα φίδια-ρομπότ, εξαιτίας της ασυμμετρίας της κατασκευής, της αδυναμίας να επιτευχθούν οι επιθυμητές γωνίες λόγω παραμόρφωσης του σκελετού και της μη γραμμικής συμπεριφοράς της, οδήγησαν στη διενέργεια πολλών πειραμάτων ώστε να υπερκεραστούν οι δυσκολίες και να επιτευχθεί το επιθυμητό αποτέλεσμα. Παράλληλα, στην πλάγια κίνηση μελετήθηκε η ικανότητα μετακίνησης της συστοιχίας σε ανισόπεδα τερέν.
Κατά τη διάρκεια των πειραμάτων παρουσιάστηκε μια πληθώρα προβλημάτων τα οποία έπρεπε να αντιμετωπιστούν τόσο στην ευθύγραμμη όσο και στην οφιοειδή κίνηση. Λόγω της μεγάλης δύναμης που ασκούν οι μύες κατά την εκτόνωσή τους και του μικρού συντελεστή τριβής του εδάφους του εργαστηρίου, η συστοιχία κατά τη διαστολή των εμβόλων ολίσθαινε προς τα όπισθεν, δημιουργώντας έτσι σημαντική καθυστέρηση στην συνολική μετακίνηση της συστοιχίας. Για την αντιμετώπιση του φαινομένου αυτού χρησιμοποιήθηκε ένα σιδερένιο βαρίδιο και ένα αυτοσχέδιο φρένο στην “ουρά” της συστοιχίας, που συγκρατούσαν τη συστοιχία κατά τη διαστολή των μυών και την ωθούσαν προς τα εμπρός. Αυτή η μεγάλη δύναμη των μυών ήταν πρόβλημα και για την καμπυλόγραμμη κίνηση, καθώς προκαλούσε παραμόρφωση του σκελετού, εισάγοντας έτσι σημαντικούς περιορισμούς στη μέγιστη πίεση των μυών. Ταυτόχρονα, οδηγούσε σε “χαλάρωση” των βιδών που συγκρατούσαν την κινούμενη άρθρωση. Εκτός αυτών, ένα επιπλέον εμπόδιο που παρουσιάστηκε ήταν η παρακώλυση της κίνησης από τους σωλήνες που τροφοδοτούσαν τα έμβολα. Αυτό το θέμα ήταν μείζονος σημασίας για την οφιοειδή κίνηση, καθώς αν δεν ομαδοποιούνταν κατάλληλα οι σωλήνες, η μετακίνηση της συστοιχίας ήταν μηδενική. Τέλος, οι βαλβίδες έπρεπε να είχαν τη δυνατότητα της εύκολης μετακίνησης, καθώς, λόγω του περιορισμένου μήκους σωλήνων, εισάγονταν περιορισμοί στο διάστημα που μπορούσε να διανύσει η συστοιχία. Τα θέματα αυτά αντιμετωπίσθηκαν με πρακτικούς τρόπους ώστε η μεταφορά των βαλβίδων να γίνεται εύκολα και με ασφάλεια, χωρίς να παρενοχλείται η κίνηση.
Εν κατακλείδι, το αποτέλεσμα της προσπάθειας αυτής ήταν να δημιουργηθεί ένας σύνθετος ενεργοποιητής, ο οποίος έχει τη δυνατότητα να κινείται πλάγια, ευθύγραμμα, καθώς και να προσομοιώνει την κίνηση του φιδιού σε πολύ ικανοποιητικό βαθμό με μικρό όμως αποτέλεσμα ως προς την ταχύτητα. Η χρήση αισθητήρων για μέτρηση της γωνίας που δημιουργείται μεταξύ των εμβόλων και η κατασκευή πιο ανθεκτικού σκελετού, ώστε να αντέχει στη μεγάλη δύναμη που ασκούν οι μύες, θα οδηγούσαν σε ένα καλύτερο αποτέλεσμα αλλά θα ξέφευγε από τα όρια της εργασίας αυτής.--