Pneumatic technology has been successfully applied for over two millennia. Even today, pneumatic cylinder based technology forms the keystone of many manufacturing processes where there is a need for simple, high-speed, low-cost, reliable motion. But when the system requires accurate control of position, velocity or acceleration profiles, these actuators form a far from satisfactory solution. Braided pneumatic muscle actuators (pMAs) form an interesting development of the pneumatic principle offering even higher power/weight performance, operation in a wide range of environments and accurate control of position, motion and force. This technology provides an interesting and potentially very successful alternative actuation source for robots as well as other applications. However, there are difficulties with this approach due to the following. (i) Modeling errors. Models of the force response are still nonoptimal and for good results these models are highly complex, which makes accurate design difficult. (ii) Low bandwidth-the bandwidth of the actuator-link assemblies are often considered to be too low for practical success in many applications, particularly robotics.
Pneumatic technology has been successfully applied for over two millennia. Even today, pneumatic cylinder based technology forms the keystone of many manufacturing processes where there is a need for simple, high-speed, low-cost, reliable motion. But when the system requires accurate control of position, velocity or acceleration profiles, these actuators form a far from satisfactory solution. Braided pneumatic muscle actuators (pMAs) form an interesting development of the pneumatic principle offering even higher power/weight performance, operation in a wide range of environments and accurate control of position, motion and force. This technology provides an interesting and potentially very successful alternative actuation source for robots as well as other applications. However, there are difficulties with this approach due to the following.(i) Modeling errors. Models of the force response are still nonoptimal and for good results these models are highly complex, which makes accurate design difficult.(ii) Low bandwidth-the bandwidth of the actuator-link assemblies are often considered to be too low for practical success in many applications, particularly robotics.In this paper we address these limitations and show how the performance in each area can be enhanced with overall improvements in the response and utility of the braided pMAs.
EMG is the signal widely used in neuromuscular control, biofeedback and measurement applications. Alternative physiological signals are available, but are used relatively infrequently. In the development of assistive devices, such as functional electrical stimulators, it is important to make the device as straightforward to use as possible. This is particularly relevant for patients with neurological and often associated cognitive impairments. Different physiological signals may require different degrees of attention to control, and advantage could be gained from selection of a signal that requires the least attention to control. However, relatively little work has been carried out on how to assess the demands of different physiological signals. This paper reports on the development of a novel experimental set up designed to address this problem and, in particular, to compare two different physiological signals, the EMG and the so-called MK signal. The paper presents the hardware design, including mechanical, electronic and software design, which involves data acquisition, parallel tasks and user-friendly interface. The system described could be adapted for evaluation of other physiological signals.
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