Development and testing of stiffness model for pneumatic artificial muscle

被引:30
作者
Doumit, Marc [1 ]
Leclair, Justin [2 ]
机构
[1] Univ Ottawa, Ottawa, ON K1N 6N5, Canada
[2] Univ Ottawa, Dept Mech Engn, Ottawa, ON K1N 6N5, Canada
关键词
Pneumatic artificial muscle; Stiffness modeling; Assistive devices;
D O I
10.1016/j.ijmecsci.2016.11.015
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Human mobility assist technologies currently rely on complex actuation system or on passive elastic elements to restitute mobility to individuals with motion impairments. These mobile technologies require actuators with a very high power-to-weight ratio such not to hinder their efficiency. One such actuator is the pneumatic artificial muscle (PAM), which consists of a soft elastic bladder, filled with air surrounded by a wire meshing. Whereas PAMs are generally used and modeled as active actuators, their use and model development in passive applications have been limited. The development and validation of a stiffness model would bridge the gap towards applying PAMs as passive components on assistive technologies. This paper presents the development of a stiffness model taking into account internal muscle pressure, muscle geometric parameters and friction in the muscle wall.
引用
收藏
页码:30 / 41
页数:12
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