Quantification of dynamic property of pneumatic muscle actuator for design of therapeutic robot control.

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference Pub Date : 2006-01-01 DOI:10.1109/IEMBS.2006.259536

Sivakumar Balasubramanian, He Huang, Jiping He

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引用次数: 13

Abstract

Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed to quantify the dynamic behavior of pneumatic muscle actuator by fitting the experimental length response of the pneumatic muscle, to a step pressure input. In addition, comparison of the dynamic responses of two pneumatic muscles of different dimensions has also been studied. Several control strategies for the pneumatic muscle actuator are discussed based on the results from this study.

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用于治疗机器人控制设计的气动肌肉执行器动态特性量化。

机器人辅助治疗在神经运动康复方面显示出潜力。本课题组研制了一种由气动肌肉执行器驱动的治疗机器人。然而，精细实时反馈机器人控制的设计是一个挑战。难点之一是缺乏气动肌肉作动器的通用动力学模型。在本研究中，通过拟合气动肌肉的实验长度响应与阶跃压力输入，建立了一个现象学模型来量化气动肌肉执行器的动态行为。此外，还对两种不同尺寸的气动肌肉的动力响应进行了比较。在此基础上，讨论了气动肌肉执行器的几种控制策略。

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Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference

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2.20

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