Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumat...Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.展开更多
Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplis...Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplish rehabilitation tasks.However,because PMAs have nonlinearities,hysteresis,and uncertainties,etc.,complex mechanisms are rarely involved in the study of PMA-driven robotic systems.In this paper,we use nonlinear model predictive control(NMPC)and an extension of the echo state network called an echo state Gaussian process(ESGP)to design a tracking controller for a PMA-driven lower limb exoskeleton.The dynamics of the system include the PMA actuation and mechanism of the leg orthoses;thus,the system is represented by two nonlinear uncertain subsystems.To facilitate the design of the controller,joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP.A gradient descent algorithm is employed to solve the optimization problem and generate the control signal.The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics.Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.展开更多
A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented.Based on geometric constraints and dynamics,a system model is developed through which some influences on dy...A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented.Based on geometric constraints and dynamics,a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure,the initial pressure and the volume of pneumatic muscle.A sliding-mode controller with a nonlinear switching function is applied to control posture,which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles,especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states.Experimental results show that this control strategy not only amounts to the steady-state error of 0.1°without overshoot,but also achieves good trajectory tracking.展开更多
The control of single pneumatic muscle actuator is studied, as one basic partof research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experimentsshow that a self-modified fuzzy-PID controlle...The control of single pneumatic muscle actuator is studied, as one basic partof research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experimentsshow that a self-modified fuzzy-PID controller is obviously effective for its position servo and asimple PID controller is good for its force track.展开更多
This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model error...This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.展开更多
A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy.Due to the special physical properties of the parallel manipulator s...A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy.Due to the special physical properties of the parallel manipulator studied,the regression model for parametric identification is characterized by multieollinearity,which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used.To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator,a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles.The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator,and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.展开更多
The aim of this article is to provide a survey on the most popular modeling approaches for PMAs （pneumatic muscle actuators）. PMAs are highly non-linear pneumatic actuators where their elongation is proportional to ...The aim of this article is to provide a survey on the most popular modeling approaches for PMAs （pneumatic muscle actuators）. PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have appeared in the literature. This article will： （a） analyse the PMA＇s operation from a mathematical modeling perspective; （b） present their merits and drawbacks of the most common PMAs; and （c） establish the fundamental basis for developing industrial applications and conducting research in this field.展开更多
Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve ...Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.展开更多
The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously ef...The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18?N variable load plus about 36?N fixed load. It is relatively precise and robust.展开更多
Among the various soft actuators explored for robotic applications,the pneumatic muscle actua-tors(PMAs)stand out because of many advantages,such as compliant structures,high power-to-weight/volume ratios,and lightwei...Among the various soft actuators explored for robotic applications,the pneumatic muscle actua-tors(PMAs)stand out because of many advantages,such as compliant structures,high power-to-weight/volume ratios,and lightweight materials.Despite these advantages,their inherent nonlineari-ties and time-varying dynamics pose significant challenges for tracking control.To tackle this challenge,we present a robust control method that is structurally simple and computationally inexpensive.Such a method is comprised of an error transformation scheme,which is deeply explored to withstand model uncertainties to accomplish the output tracking with assigned accuracy,and a tuning function for relaxing requirements on the initial conditions.Experimental results of the PMA are presented to validate the concepts.展开更多
Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using li...Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.展开更多
Pneumatic artificial muscles(PAM)have been recently considered as a prominent challenge regarding pneumatic actuators specifically for rehabilitation and medical applications.Since accomplishing accurate control of th...Pneumatic artificial muscles(PAM)have been recently considered as a prominent challenge regarding pneumatic actuators specifically for rehabilitation and medical applications.Since accomplishing accurate control of the PAM is comparatively complicated due to time-varying behavior,elasticity and ambiguous characteristics,a high performance and efficient control approach should be adopted.Besides of the mentioned challenges,limited course length is another predicament with the PAM control.In this regard,this paper proposes a new hybrid dynamic neural network(DNN)and proportional integral derivative(PID)controller for the position of the PAM.In order to enhance the proficiency of the controller,the problem under study is designed in the form of an optimization trend.Considering the potential of particle swarm optimization,it has been applied to optimally tune the PID-DNN parameters.To verify the performance of the proposed controller,it has been implemented on a real-time system and compared to a conventional sliding mode controller.Simulation and experimental results show the effectiveness of the proposed controller in tracking the reference signals in the entire course of the PAM.展开更多
The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achie...The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots.In order to effectively suppress the adverse effects of non-linearity on control performance and improve the dynamic performance of PM-driven legged robot,this study designs a double closed-loop control structure based on neural network.First,according to the motion model of the bionic joint,a mapping model between PM contraction force and joint torque is proposed.Second,a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle.In the inner control loop,a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model.In the control outer loop,a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability.Finally,it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints,and it can satisfy the requirements of reliability,flexibility,and bionics during human–robot collaboration.展开更多
Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information b...Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.展开更多
An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit...An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit-Hartenberg.The model of the equivalent contact forces exerted by the object on the finger is proposed.By the principle of virtual work,the static equilibrium of finger is established.The force Jacobian matrix of finger is calculated,and then the joint torques of the finger when grasping objects are obtained.The theory and structure of the force feedback datagolve are introduced.Based on the theory of motion stabilization of four-bar linkage,the flexion angles of joints are measured.The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated.The output forces of pneumatic artificial muscle,whose values are controlled by its inner pressure,can be calculated by the joint torques of the finger when grasping objects.The arms of force,driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger.The criterion of output force of pneumatic muscle is given.展开更多
Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumat...Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumatic Artificial Muscle(MBPAM)that can bend in eight directions by changing the pressurized chambers.The maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,respectively.Additionally,the Finite Element Model(FEM)is established to further investigate the performance.The experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output force.Moreover,the effects of parameters on the performance are studied with the validated FEM.The results reveal that the amplitude of waves and the thickness of the base layer can be optimized.Thus,multi-objective optimization is performed to improve the bending performance of the MBPAM.The optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output force.Finally,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.展开更多
According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi...According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi-static and dynamic experiment results, which are gainedfrom two experiment systems. The experiment results and the simulation results illustrate that theserial model has made a great success compared with Chou's model, which can describe the forcecharacteristics of PAM more precisely. A compensation item considering the braid's elasticity andthe coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplifythe model of PAM. Finally, an improved serial model of PAM is obtained.展开更多
In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is inves...In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51675124)
文摘Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.
基金supported in part by the National Natural Science Foundation of China(U1913207)the International Science and Technology Cooperation Program of China(2017YFE0128300)the Fundamental Research Funds for the Central Universities(HUST 2019kfyRCPY014)。
文摘Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplish rehabilitation tasks.However,because PMAs have nonlinearities,hysteresis,and uncertainties,etc.,complex mechanisms are rarely involved in the study of PMA-driven robotic systems.In this paper,we use nonlinear model predictive control(NMPC)and an extension of the echo state network called an echo state Gaussian process(ESGP)to design a tracking controller for a PMA-driven lower limb exoskeleton.The dynamics of the system include the PMA actuation and mechanism of the leg orthoses;thus,the system is represented by two nonlinear uncertain subsystems.To facilitate the design of the controller,joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP.A gradient descent algorithm is employed to solve the optimization problem and generate the control signal.The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics.Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.
基金This project is supported by International Cooperation with Festo.
文摘A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented.Based on geometric constraints and dynamics,a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure,the initial pressure and the volume of pneumatic muscle.A sliding-mode controller with a nonlinear switching function is applied to control posture,which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles,especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states.Experimental results show that this control strategy not only amounts to the steady-state error of 0.1°without overshoot,but also achieves good trajectory tracking.
文摘The control of single pneumatic muscle actuator is studied, as one basic partof research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experimentsshow that a self-modified fuzzy-PID controller is obviously effective for its position servo and asimple PID controller is good for its force track.
基金Project (No.50775200) supported by the National Natural Science Foundation of China
文摘This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.
基金supported by National Natural Science Foundation of China(No.50775200).
文摘A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy.Due to the special physical properties of the parallel manipulator studied,the regression model for parametric identification is characterized by multieollinearity,which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used.To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator,a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles.The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator,and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.
文摘The aim of this article is to provide a survey on the most popular modeling approaches for PMAs （pneumatic muscle actuators）. PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have appeared in the literature. This article will： （a） analyse the PMA＇s operation from a mathematical modeling perspective; （b） present their merits and drawbacks of the most common PMAs; and （c） establish the fundamental basis for developing industrial applications and conducting research in this field.
基金supported by National Natural Science Foundation of China (No. 50905170)Natural Science Foundation of Zhejiang Province (No. Y1090042)Open Fund of State Key Laboratory of Robotics (No. RL0200918)
文摘Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.
文摘The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18?N variable load plus about 36?N fixed load. It is relatively precise and robust.
基金supported by the National Natural Science Foundation of China(52305569)the China Postdoctoral Science Foundation,China(2023M740940)+1 种基金the Innovation Team Project for Ordinary Universities in Guangdong Province(2024KCXTD041)program for scientific research start-upfunds of Guangdong Ocean University(060302062404).
文摘Among the various soft actuators explored for robotic applications,the pneumatic muscle actua-tors(PMAs)stand out because of many advantages,such as compliant structures,high power-to-weight/volume ratios,and lightweight materials.Despite these advantages,their inherent nonlineari-ties and time-varying dynamics pose significant challenges for tracking control.To tackle this challenge,we present a robust control method that is structurally simple and computationally inexpensive.Such a method is comprised of an error transformation scheme,which is deeply explored to withstand model uncertainties to accomplish the output tracking with assigned accuracy,and a tuning function for relaxing requirements on the initial conditions.Experimental results of the PMA are presented to validate the concepts.
基金supported by the National Natural Science Foundation of China(No.52475067).
文摘Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.
文摘Pneumatic artificial muscles(PAM)have been recently considered as a prominent challenge regarding pneumatic actuators specifically for rehabilitation and medical applications.Since accomplishing accurate control of the PAM is comparatively complicated due to time-varying behavior,elasticity and ambiguous characteristics,a high performance and efficient control approach should be adopted.Besides of the mentioned challenges,limited course length is another predicament with the PAM control.In this regard,this paper proposes a new hybrid dynamic neural network(DNN)and proportional integral derivative(PID)controller for the position of the PAM.In order to enhance the proficiency of the controller,the problem under study is designed in the form of an optimization trend.Considering the potential of particle swarm optimization,it has been applied to optimally tune the PID-DNN parameters.To verify the performance of the proposed controller,it has been implemented on a real-time system and compared to a conventional sliding mode controller.Simulation and experimental results show the effectiveness of the proposed controller in tracking the reference signals in the entire course of the PAM.
基金Zhejiang Province Key Research and Development Project of China,Grant/Award Number:2021C01069。
文摘The bionic joints composed of pneumatic muscles(PMs)can simulate the motion of biological joints.However,the PMs themselves have non-linear characteristics such as hysteresis and creep,which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots.In order to effectively suppress the adverse effects of non-linearity on control performance and improve the dynamic performance of PM-driven legged robot,this study designs a double closed-loop control structure based on neural network.First,according to the motion model of the bionic joint,a mapping model between PM contraction force and joint torque is proposed.Second,a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle.In the inner control loop,a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model.In the control outer loop,a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability.Finally,it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints,and it can satisfy the requirements of reliability,flexibility,and bionics during human–robot collaboration.
基金supported by National Natural Science Foundation of China (Grant No. 50375034)Research Foundation for the Doctoral Program of Higher Education of China (Grant No. 200802881002)
文摘Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.
基金This project is supported by National Natural Science Foundation of China(No.50375034).
文摘An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit-Hartenberg.The model of the equivalent contact forces exerted by the object on the finger is proposed.By the principle of virtual work,the static equilibrium of finger is established.The force Jacobian matrix of finger is calculated,and then the joint torques of the finger when grasping objects are obtained.The theory and structure of the force feedback datagolve are introduced.Based on the theory of motion stabilization of four-bar linkage,the flexion angles of joints are measured.The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated.The output forces of pneumatic artificial muscle,whose values are controlled by its inner pressure,can be calculated by the joint torques of the finger when grasping objects.The arms of force,driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger.The criterion of output force of pneumatic muscle is given.
基金the National Natural Science Foundation of China(11872178,51621004)are gratefully acknowledged。
文摘Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumatic Artificial Muscle(MBPAM)that can bend in eight directions by changing the pressurized chambers.The maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,respectively.Additionally,the Finite Element Model(FEM)is established to further investigate the performance.The experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output force.Moreover,the effects of parameters on the performance are studied with the validated FEM.The results reveal that the amplitude of waves and the thickness of the base layer can be optimized.Thus,multi-objective optimization is performed to improve the bending performance of the MBPAM.The optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output force.Finally,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.
文摘According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi-static and dynamic experiment results, which are gainedfrom two experiment systems. The experiment results and the simulation results illustrate that theserial model has made a great success compared with Chou's model, which can describe the forcecharacteristics of PAM more precisely. A compensation item considering the braid's elasticity andthe coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplifythe model of PAM. Finally, an improved serial model of PAM is obtained.
文摘In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.
