A digital twin-based framework of motion control and state monitoring for pneumatic muscle

The current digital twin systems usually have the drawback of high cost and complex technology, and it is necessary to develop a simple solution to reduce the cost and cycle for the development of digital twin systems, especially for small projects or systems with simple structures. A low-cost patent technology of digital twin system was proposed by taking the motion control and state monitoring system (MCSMS) of pneumatic muscle as an example. In the roaming experiment and the experiment of motion control and state monitoring of pneumatic muscle, the MCSMS can work smoothly without obvious delay and has good real-time performance, which can realize the 3D visual monitoring of the pneumatic muscle very well. The experimental results indicate that the proposed method possesses the ability of good feasibility and effectiveness.