Perfect velocity tracking for biomedical applications using a pneumatic muscle actuator

Abstract

A perfect velocity tracking controller is synthesized involving a pneumatic muscle (PM) actuator which may be used for resistance exercise in space applications. In such biomedical devices, isokinetic (constant velocity) tracking is critically important for rehabilitation and emulation of limb motion. To wrap feedback around a pneumatic muscle to perform velocity tracking requires a careful analysis to ensure the efficacy of the device with human use. First a linearization of the dynamics of the PM is performed with a steady state analysis of a controller design. Generalization to nonlinear dynamics is then presented.