Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
Prior, Stephen D. and White, Anthony S. (1995) Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot. Simulation Practice and Theory, 3, (2), 81-117. (doi:10.1016/0928-4869(95)00010-Q).
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Description/Abstract
The performance of a pneumatic muscle actuator, invented by Jim Hennequin and used in a prototype wheelchair-mounted robot arm designed by the first author is reported. Experimental measurements were made of the output torque versus rotary motion and internal pressure. The torque available for a muscle of size 60 mm width by 90 mm length ranges from 1 to 15 Nm. The rotary stiffness of this muscle is 0.081 Nm/deg. A theory based on thermodynamic principles indicates that the efficiency of the pneumatic muscle actuator reaches a maximum of 67%. A simulation model of the dynamic behaviour of the muscle attached to the robot arm using one-dimensional flow theory was written in ACSL (Advanced Continuous Simulation Language). The resultant simulation gives good agreement to within ± 5% of the experimental values
| Item Type: | Article |
|---|---|
| ISSNs: | 0928-4869 (print) |
| Keywords: | actuator, pneumatic, rehabilitation, robotics, simulation |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Faculty of Engineering and the Environment > Aeronautics, Astronautics and Computational Engineering |
| Item ID: | 342158 |
| Date Deposited: | 23 Aug 2012 12:45 |
| Last Modified: | 23 Aug 2012 12:45 |
| Contributors: | Prior, Stephen D. (Author) White, Anthony S. (Author) |
| Date: | 15 September 1995 |
| Status: | Published |
| Publisher: | Elsevier |
| URI: | http://eprints.soton.ac.uk/id/eprint/342158 |
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