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
81-117
Prior, Stephen D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
White, Anthony S.
33b1b4bf-d709-4aea-a936-8f971b6568c6
15 September 1995
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), .
(doi:10.1016/0928-4869(95)00010-Q).
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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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
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Date deposited: 23 Aug 2012 12:45
Last modified: 15 Mar 2024 03:45
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Author:
Anthony S. White
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