Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Chakravarthy, Shanthanu; Aditya, K.; Ghosal, Ashitava

doi:10.1115/1.4028420

Cited by 10 publications

(5 citation statements)

References 24 publications

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“…An example of the fabrication process of TMM is detailed out in De Volder et al (2011) where a TMM using a self-fabricated clamping piece with air interconnection, an off-the-shelf bladder and sleeve was developed. Chakravarthy et al (2014) went a step further by fabricating their own bladder and sleeve. In order to produce a TMM, a low-diameter bladder had to be used, but it came at the price of reduced contraction ratio and force capacity (Kothera et al, 2009).…”

Section: There Is Also Another Class Of Pma Called Miniature Mckibben...mentioning

confidence: 99%

A Systematic Review of Soft Actuators in Agriculture

Mhd Yusoff,

Mohd Faudzi

2023

Adv Agric Food Res J

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Industrial machines and robots use actuators to facilitate repetitive tasks. Conventionally, stiff actuators are used to enable precise position control in a high-pace system. They are usually placed in human-free environments because of safety concerns as they do not comply in a collision. On the other hand, there has been a growing interest in human-robot interactions that require robots to be placed alongside humans. These applications need a soft actuator. An example of a soft actuator is a pneumatic muscle actuator (PMA) which produces a one-way motion and force as a result of the muscle’s contraction under air pressure. In this paper, the aim is to present a systematic review covering the main published solutions of soft actuators including PMA in agricultural applications. This paper provides a useful foundation on the soft actuators, their main applications in agriculture, their challenges and opportunities, as well as supporting new research works in the soft actuators' field.

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Section: There Is Also Another Class Of Pma Called Miniature Mckibben...mentioning

confidence: 99%

A Systematic Review of Soft Actuators in Agriculture

Mhd Yusoff,

Mohd Faudzi

2023

Adv Agric Food Res J

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“…Chu et al developed a multi-functional robotic arm actuated through PAMs with a multi-degree of freedom for performing upper limb rehabilitation exercise tasks. In addition to these applications, many applications of PAMs in medical instrumentation can be found [59,85,115,116,[171][172][173]. Li et al [59] developed a compact and lightweight forceps' manipulator for laparoscopic surgery with PAMs, as shown in Figure 14a, which allows for the perception of manipulation force without the usage of the force sensor.…”

Section: Medical Applicationsmentioning

confidence: 99%

“…Each MPAM used in the device is of 1.2 mm diameter and 45 mm length and applied a pressure of 137-827 kPa to one or more muscles. Due to the small size, these MPAMs are mainly found in the various medical applications like wearable hand exoskeletons in Figure 14b [171], cardiac compression devices [172], and tool manipulation in surgical devices, as shown in Figure 14c,d [85,173]. The uses of PAMs in various industrial applications are discussed in the next subsection.…”

Section: Medical Applicationsmentioning

confidence: 99%

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medical applications. While a variety of possible actuation schemes are present, there is still a need for the development of a soft actuator that is very light-weight, compact, and flexible with high power-to-weight ratio. To achieve this, the development of the PAM actuators has become an interesting topic for many researchers. In this review, the development of the different kinds of PAM available to date are presented along with manufacturing process and the operating principle. The various force models for artificial muscle presented in the literature are broadly reviewed with the constraints. Furthermore, the applications of PAM are included and classified based on the fields of biorobotics, medicine, and industry, along with advanced medical instrumentation. Finally, the needful improvements in terms of the dynamics of the muscle are discussed for the precise control of the PAMs as per the requirements for the applications. This review will be helpful for researchers working in the field of robotics and for designers to develop new type of artificial muscle depending on the applications.

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“…To reduce the overall length and weight of the PAM while maintaining the optimum contraction, Carvalho et al [19] designed innovative end fittings, resulting in a shorter overall length of the muscle. Miniaturized artificial muscles (MPAMs) are the smaller version of PAMs, with the same advantages but a much smaller size and weight, which is intriguing for miniaturized applications, including wearable hand exoskeletons [20], cardiac compression devices, and manipulation tools for minimally invasive surgery [21]. Lathrop et al [22] conducted a study on several MPAMs featuring different dimensions to be employed in flexible instruments essential for minimally invasive surgery (MIS).…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of a Miniaturized Pneumatic Artificial Muscle and Experimental Validation

Zabihollah,

Moezi,

Sedaghati

2023

Actuators

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Miniaturized pneumatic artificial muscles (MPAMs) are widely utilized in various applications due to their unique characteristics, such as a high power-to-weight ratio, flexibility, and compatibility with the human environment, as well as being compact enough to fit within small-scale mechanical systems. Maximizing the amount of force generated by these actuators while keeping their dimensions minimized can greatly affect their efficiency. In this study, a formal design optimization problem was formulated to identify optimal sizes of MPAMs while maximizing their blocked force as a novel approach to address the issue of low force outputs of these actuators. A force model for an MPAM including various correction terms was derived to better predict the response behavior of the actuator. The optimization results reveal that an MPAM with a bladder that has an outer diameter of 6 mm and a thickness of 0.7 mm, as well as a braid angle of 72 degrees, can produce up to almost 239 N of blocked force if the inlet pressure is increased to 600 kPa. An MPAM with optimal parameters was subsequently fabricated and experimentally tested to evaluate its quasi-static response behavior and to validate the theoretical optimization results. Experimental tests were conducted under a wide range of pressures (0–300 kPa) to evaluate the variation of the generated blocked force versus inlet pressure. The overall error between the simulation and the experimental blocked forces was found to be less than 10%. This study represents a significant contribution to the design optimization of MPAMs, and the resulting optimal design offers potential applications in various fields, from soft robots to medical devices.

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Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Cited by 10 publications

References 24 publications

A Systematic Review of Soft Actuators in Agriculture

A Systematic Review of Soft Actuators in Agriculture

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

Design Optimization of a Miniaturized Pneumatic Artificial Muscle and Experimental Validation

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