Simulation and control of a pneumatic muscle actuator for a rehabilitation robot
Simulation and control of a pneumatic muscle actuator for a rehabilitation robot
The perfomance of a pneumatic muscle actuator, invented by Jim Hennequin and used in a prototype wheelchair-mounted robot ann 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 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. Control using proportional and a PID controller is shown to be effective.
919-923
Prior, S.D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
White, A.S.
f5dd0e0b-8321-4a8b-9581-62ef1c8f501a
May 1997
Prior, S.D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
White, A.S.
f5dd0e0b-8321-4a8b-9581-62ef1c8f501a
Prior, S.D. and White, A.S.
(1997)
Simulation and control of a pneumatic muscle actuator for a rehabilitation robot.
IFAC Proceedings Volumes, 30 (6), .
(doi:10.1016/S1474-6670(17)43482-3).
Abstract
The perfomance of a pneumatic muscle actuator, invented by Jim Hennequin and used in a prototype wheelchair-mounted robot ann 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 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. Control using proportional and a PID controller is shown to be effective.
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Published date: May 1997
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Local EPrints ID: 490445
URI: http://eprints.soton.ac.uk/id/eprint/490445
ISSN: 1474-6670
PURE UUID: 6714c22e-60c1-4a11-adac-433ad64ffd40
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Date deposited: 28 May 2024 16:44
Last modified: 29 May 2024 01:45
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A.S. White
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