Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators

Davis, Steve; Caldwell, Darwin G.

doi:10.1177/0278364906063227

Cited by 144 publications

(94 citation statements)

References 9 publications

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“…In this phase of the study, a comparison between the data of these prototypes with those of muscles present in the literature [35,36] does not appear possible, because of the significant dimensional differences. A purely qualitative comparison seems to indicate that the DIMEAS prototypes have comparable contractions and produce lower forces.…”

Section: Discussionmentioning

confidence: 99%

Soft Pneumatic Actuators for Rehabilitation

et al. 2014

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Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM) in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these 85Pressure Soft Actuators are useful for upper/lower limbs treatments, according to medical requirements. In particular devices useful for arms massage treatments are considered. Finally some applications are considered.

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Section: Discussionmentioning

confidence: 99%

Soft Pneumatic Actuators for Rehabilitation

et al. 2014

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“…The extreme difficulty in constructing an accurate mathematical model was established by the fact that nearly all of the present models proposed were approximations. This model was later modified through various methods, used by other researches, to further improve the mathematical model [23][24][25][26][27][28][29][30].…”

Section: Attributes Of Pneumatic Muscle Actuators (Pma)mentioning

confidence: 99%

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

2014

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Abstract:It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

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“…The second considered friction model is much more original; it was inspired by our own work about McKibben muscle modeling [17], but it is also in accordance with studies specifically dedicated to friction phenomena inside McKibben muscle sleeve [18]. Because we neglect fluidic phenomena occurring inside the devices feeding the McKibben artificial muscle, no specific viscous damping will be directly considered in this model of the McKibben artificial muscle model.…”

Section: A Simple Artificial Muscle Phenomenological Model With a Dammentioning

confidence: 99%

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

Tondu

2014

Actuators

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Abstract:We analyze the possibility of taking advantage of artificial muscle's own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID) controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model.Step and sinus-wave tracking responses performed with pneumatic McKibben muscles are reported showing the practical efficiency of the method to combine accuracy and load robustness. In the particular case of the McKibben artificial muscle technology, we suggest that the dynamic performances in stability and load robustness would result from the textile nature of its braided sleeve and its internal friction which do not obey Coulomb's third law, as verified by preliminary reported original friction experiments. Comparisons are reported between three kinds of braided sleeves made of rayon yarns, plastic, and thin metal wires, whose similar closedloop dynamic performances are highlighted. It is also experimentally shown that a sleeve braided with thin metal wires can give high accuracy performance, in step as in tracking response. This would be due to a low static friction coefficient combined with a kinetic friction exponentially increasing with speed in accordance with hydrodynamic lubrication theory applied to textile physics.

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Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators

Cited by 144 publications

References 9 publications

Soft Pneumatic Actuators for Rehabilitation

Soft Pneumatic Actuators for Rehabilitation

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

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