Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators

Davis, Steve; Tsagarakis, Nikos G.; Canderle, J.; Caldwell, Darwin G.

doi:10.1177/0278364903022003006

Cited by 147 publications

(94 citation statements)

References 10 publications

(11 reference statements)

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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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“…This purely geometrical model does not take into account bound effects as force lose due to material effects whose major one is friction braid fibre on braid fibremore accurate physical models can be found in (Chou & Hannaford, 1996), (Tondu & Lopez, 2000), (Colbrunn et al, 2001), (Davis et al, 2003)). It however captures three main characters which found the static analogy between McKibben muscle and natural skeletal muscle : 1.…”

Section: Pneumatic Musclesmentioning

confidence: 99%

Artificial Muscles for Humanoid Robots

Tondu¹

2007

Humanoid Robots, Human-Like Machines

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The question of actuator choice for humanoid robotsIt is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the technology of redundant robot-arms and humanoid robots as underlined in some technical documents of the Japanese AIST where it clearly appears that the HRP2 humanoid robot upper limb is directly derived from the Mitsubshi PA10 7R industrial robot-arm. D u e t o i t s h i g h n u m b e r o f d e g r e e s o f f r e e d o m i n c o m p a r i s o n t o i n d u s t r i a l r o b o t s , ahumanoid robot requires great compactness of all actuator and sensor components. This is why we believe that the harmonic drive technology associated with direct current electric motor technology has played a non-negligible part in humanoid robot development. The DC actuator offers the great advantage of being a straightforward technology, associated with simple and well-known physical models, its integration into mobile robots benefits from new developments in embedded batteries. However, its low maximum-torque-onmass and maximum-torque-on-volume ratios are a serious drawback for its use in direct drive apparatuses. On the other hand, the ability of electric motors to generate very high velocities in comparison with moderate jointed velocities needed by industrial robot-arms and more by jointed anthropomorphic limbs, gives the possibility of using high ratio speed reducers to amplify motor-torque. Moreover, the choice of a high ratio speed reducer offers the advantage of masking inertial perturbations such as external torque perturbations. The technical achievement of such ratios induces specific mechanical difficulties due to the bulkiness of successive gears; harmonic drive technology -represented for example by Harmonic Drive AG -resolves this problem in a very elegant manner: the harmonic drive and the actuator fit together without excessive increase in mass and volume in comparison with the actuator alone. It can be considered that most of today's humanoid robots are actuated by DC motors with harmonic drives (this actuation mode is mentioned, for example, by Honda from its first paper about the P2 robot onwards (Hirai et al., 1998) and then in the official ASIMO web site, as well as in papers concerning other Japanese and European humanoid robots). But if this technology simplifies actuator mechanical integration and leads to the use of simple joint linear control, despite the highly non-linear character of robot dynamics, it is well-known that the use of a speed reducer multiplies the

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“…To provide safety in human centred robotics, work at the University of Salford has focused on the use of pMAs (based on an adaptation of a braided pneumatic actuation design dating back to at least the 1920s) which has led to the development of a range of actuators with enhanced performance characteristics [18] . The actuator used in these designs, consists of an inner liner with a tubular braided mesh outer.…”

Section: Actuator Designmentioning

confidence: 99%

Joint motion control of a powered lower limb orthosis for rehabilitation

Costa

Bezdicek

Brown

et al. 2006

Int J Automat Comput

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Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that locomotor training reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design and control of a new "human friendly" orthosis (exoskeleton), powered by high power pneumatic Muscle Actuators (pMAs). The combination of a highly compliant actuation system, with an intelligent embedded control mechanism which senses hip, knee, and ankle positions, velocity, acceleration and force, produces powerful yet inherently safe operation for paraplegic patients. This paper analyzes the motion of ankle, knee, and hip joints under zero loading, and loads which simulate human limb mass, showing that the use of "soft" actuators can provide a smooth user friendly motion. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

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Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators

Cited by 147 publications

References 10 publications

Soft Pneumatic Actuators for Rehabilitation

Soft Pneumatic Actuators for Rehabilitation

Artificial Muscles for Humanoid Robots

Joint motion control of a powered lower limb orthosis for rehabilitation

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