Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

Klute, Glenn K.; Hannaford, Blake

doi:10.1115/1.482478

Cited by 192 publications

(140 citation statements)

References 4 publications

(3 reference statements)

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“…Figure. little effect of braid length on the force generated when pressurized [25]. However, our muscles have comparatively small aspect ratios and below the recommended ratio of 14 [26] so that end effects may limit the force generated.…”

Section: Effect Of the Unloaded Muscle Length On Isometric Force Genementioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

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Fluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.  Effect of the bladder stiffness on Muscle performance is studied. A new and more accurate equation to predict the muscle performances is proposed. A sealed actuation system suitable for robotic machines with low voltage water pump is introduced. AbstractFluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 Bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.

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Section: Effect Of the Unloaded Muscle Length On Isometric Force Genementioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

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“…The theoretical model intuitively describes the relationship between the PAM's characteristics and the parameters directly related to the PAM's geometric structure and material properties, and often has a complex structure with many parameters [4]- [7]. For example, Chou and Hannaford derived the model from the law of energy conservation, and described the relationship among the pressure, the length, and the contractile force of the PAM [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Active Model-Based Control for Pneumatic Artificial Muscle

Zhang

Zhao

2017

IEEE Trans. Ind. Electron.

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Abstract-In this paper, an active model-based control scheme is developed for the pneumatic artificial muscle (PAM), to compensate for the uncertainties in the dynamics model of the PAM. First, a simplified three-element model with respect to a specific range of pressure is formulated as the reference model. Second, a Kalman filter is adopted to actively estimate the errors involved in the reference model, especially while the PAM was working at the pressure outside the specific range where the reference model was built. Finally, a compensation control is proposed using the estimated errors to reject the modeling errors and improve the performance of the PAM. Experiments are conducted on a one degree-of-freedom testbed actuated by the PAM. The experimental results with and without the activemodel-based compensation are presented and compared to demonstrate the improvements of the proposed scheme.Index Terms-Active model-based compensation, model error, pneumatic artifial muscle (PAM).

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“…Many modeling approaches exist, including energy balance [10], force balance [11] and finite elasticity theory [12], but precise modeling of the nonlinear behavior has proven difficult. Moreover, scalability to different sizes, length-to-diameter ratios and bladder thickness-to-diameter ratios have seen limited success.…”

Section: Introductionmentioning

confidence: 99%

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

2014

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Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic), but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

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Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

Cited by 192 publications

References 4 publications

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Active Model-Based Control for Pneumatic Artificial Muscle

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

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