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Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot

Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
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
actuator, pneumatic, rehabilitation, robotics, simulation
0928-4869
81-117
Prior, Stephen D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
White, Anthony S.
33b1b4bf-d709-4aea-a936-8f971b6568c6
Prior, Stephen D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
White, Anthony S.
33b1b4bf-d709-4aea-a936-8f971b6568c6

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).

Record type: Article

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

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More information

Published date: 15 September 1995
Keywords: actuator, pneumatic, rehabilitation, robotics, simulation
Organisations: Aeronautics, Astronautics & Comp. Eng

Identifiers

Local EPrints ID: 342158
URI: http://eprints.soton.ac.uk/id/eprint/342158
ISSN: 0928-4869
PURE UUID: b2e1062d-749c-4db4-99ca-e8b9e77cb3f7
ORCID for Stephen D. Prior: ORCID iD orcid.org/0000-0002-4993-4942

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Date deposited: 23 Aug 2012 12:45
Last modified: 15 Mar 2024 03:45

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Contributors

Author: Anthony S. White

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