Development of a Simple-structured Pneumatic Robot Arm and its Control Using Low-cost Embedded Controller

Aliff, Mohd; Dohta, Shujiro; Akagi, Tetsuya; Li, Hui

doi:10.1016/j.proeng.2012.07.153

Cited by 33 publications

(18 citation statements)

References 7 publications

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“…Novel types of the flexible pneumatic actuator that can be used even if the actuators are deformed by the external forces have been proposed and tested (Akagi and Dohta, 2007;Dohta et al, 2013). The flexible robot arm with simple structure has been proposed and tested by using the flexible pneumatic cylinders (Aliff et al, 2012;Aliff et al, 2014). This robot arm has three degrees-of-freedom that is bending, extending and contracting.…”

Section: Introductionmentioning

confidence: 99%

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Control and analysis of simple-structured robot arm using flexible pneumatic cylinders

Aliff

2017

Int. j. adv. appl. sci.

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The flexible pneumatic cylinder is a novel pneumatic actuator that can work even if the cylinder bends. The purpose of this study is to develop a simplestructured rehabilitation device using the flexible pneumatic cylinder. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cylinder is introduced. The system consists of a slave arm, a master arm, a high-speed microcomputer, compact and inexpensive quasi-servo valves, a potentiometer and accelerometers to give the references for the attitude control. The control performances of the device were also investigated. Then, it is needed to improve the control performance of the devices. Therefore, the analytical model of the flexible pneumatic cylinder and the quasi servo valve with the embedded controller was proposed and tested for estimating the performance theoretically. The comparison between the theoretical and experimental results was also executed to confirm the validity of the proposed model.

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Section: Introductionmentioning

confidence: 99%

“…Fig. 3 shows the construction of the flexible robot arm using flexible pneumatic cylinders (Aliff et al, 2012;Fujikawa et al, 2010). The robot arm consists of two round stages: an upper and a lower, three flexible pneumatic cylinders, a central tube, an accelerometer, a potentiometer and three slide stages.…”

Section: Introductionmentioning

confidence: 99%

Control and analysis of simple-structured robot arm using flexible pneumatic cylinders

Aliff

2017

Int. j. adv. appl. sci.

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“…The robot arm consists of two round stages: an upper and a lower, three flexible pneumatic cylinders, an accelerometer, a potentiometer and three slide stages, (Aliff, et al, 2012). The outer diameter of the upper and lower stage is 100 mm and the length of cylinder tube is 250 mm as shown in Fig.…”

Section: Flexible Robot Armmentioning

confidence: 99%

“…The therapist programs the master arm to execute desired movements while the patient repeats the movements with the slave arm. The previous study had also proposed the master-slave control system, (Aliff, et al, 2012). However, the robot arm cannot move naturally and precisely.…”

Section: Master Slave Control System and Control Proceduresmentioning

confidence: 99%

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Control and analysis of robot arm using flexible pneumatic cylinder

Aliff

Dohta

Akagi

2014

Mechanical Engineering Journal

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The main characteristics of robot are the precision work with a high degree of reliability and the repetitive over long period that makes it suitable for use in the medical field. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cylinder is introduced. The system consists of a slave arm, a master arm, a high-speed microcomputer, compact and inexpensive quasi-servo valves, a potentiometer and accelerometers to give the references for the attitude control. The robot arm has three degrees-of-freedom that is bending, extending and contracting. The control performances of the robot arm were investigated and the analytical model of the whole robot arm system including the flexible pneumatic cylinder, the quasi-servo valves and an embedded controller was proposed and tested for estimating the performance theoretically. We also made comparisons between the calculated and experimental results to confirm the validities of the proposed model and the identified system parameters. The results from experiments show that the proposed models accurately predict the behavior of the tested flexible robot arm using flexible pneumatic cylinders. The proposed master-slave control system has a potential for application for robot-assisted rehabilitation and training especially for human wrist.

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Development of a Low-Cost Hydroelectric Generation System for Application on Water Pipelines

Sani

Azharshah

Yusof

et al. 2022

Advanced Transdisciplinary Engineering and Technology

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Development of a Simple-structured Pneumatic Robot Arm and its Control Using Low-cost Embedded Controller

Cited by 33 publications

References 7 publications

Control and analysis of simple-structured robot arm using flexible pneumatic cylinders

Control and analysis of simple-structured robot arm using flexible pneumatic cylinders

Control and analysis of robot arm using flexible pneumatic cylinder

Development of a Low-Cost Hydroelectric Generation System for Application on Water Pipelines

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