A new dynamic modelling algorithm for Pneumatic muscle actuators

被引：10

作者：

Cao, Jinghui ^{[1
]}

Xie, Sheng Quan ^{[1
,2
]}

Zhang, Mingming ^{[1
]}

Das, Raj ^{[1
]}

机构：

[1] Department of Mechanical Engineering, The University of Auckland, 20 Symonds Street, Auckland City

[2] State Key Laboratory of Digital Equipment and Technology, Huazhong University of Science and Technology, Wuhan

来源：

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | 2014年 / 8918卷

关键词：

Pneumatic muscle actuator; Rehabilitation robotics; Wearable robotics;

D O I：

10.1007/978-3-319-13963-0_44

中图分类号：

学科分类号：

摘要：

Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and built to investigate PMA’s dynamics. The device automates the experimental process by providing motions and recording pressure, force, position and velocity data. The gathered experimental data enable the authors to validate a previous PMA dynamic model. Meanwhile, new models are developed from the original model. Statistical analysis proves that the new models can better represent the PMA dynamics during the experiments. © Springer International Publishing Switzerland 2014.

引用

页码：432 / 440

页数：8

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