A model of the McKibben muscle actuator based on experiments

• Autorzy: Zhao H. , Sugisaka M.
• Języki publikacji: EN

Abstrakty

EN

McKibben muscle is a kind of pneumatic artificial muscle. It can be used as the actuator to drive the robot and the rehabilitation device. So, its force characteristic is very important in order to control the contraction and extension of the McKibben muscle for the applications in the robot field. In this paper, a new force model, which describes the basic characteristics of the McKibben muscle such as nonlinear phenomena like hysteresis, is proposed based on the experimental results. The model can reproduce the experimental results exactly. Therefore, the model is very useful to analyze the behaviors of robots and rehabilitation devices driven by the McKibben muscles.

Słowa kluczowe

EN

McKibben muscle actuator; force model; hysteresis; pneumatic system

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2008
• Tom: Vol. 34, no 2
• Strony: 83--88
• Opis fizyczny: Bibliogr. 7 poz., wykr.

Twórcy

autor

Zhao H.

autor

Sugisaka M.

• Department of Electrical and Electronic Engineering, Oita University, Japan,

Bibliografia

• [1] Richard Q., Design, analysis, and control of a low power joint for walking robots by phasic activation of McKibben muscles, IEEE Trans. Robots and Automation, Vol. 15, 1998, pp. 599-604.
• [2] Kawamura K., Peters R.A., Wilkes D.M., Alford W.A., Rogers T.E., ISAC: Foundations in human-humanoid interaction, IEEE Intelligent Systems, Vol. 15, Issue 4, 2000, pp. 38-45.
• [3] Tuijthof G.J.M., Herder J.L., Design, actuation and control of an anthropomorphic robot arm, Mechanism and Machine Theory, Vol. 35, 2000, pp. 945-962.
• [4] Rowe G.D., Power dressing, New Scientist, Vol. 174, 2002, pp. 23.
• [5] Daerden F., Lefeber D., Pneumatic Artificial Muscles: actuators for robotics and automation, European Journal of Mechanical and Environmental Engineering, 47(1), 2002, 10-21.
• [6] Chou C.P., Study of human motion control with a physiology based robotic arm and spinal level neural controller, doctor dissertation, Washton Univ., 1996.
• [7] Tondu B., Lopez P., Modelling and control of McKibben artificial muscle robot actuators, IEEE Control System Magazine, Vol. 20, Issue 2, 2000, pp. 15-38.