Mechanical Issues Inherent in Antagonistically Actuated Systems

Russell, Donald; McTavish, M.; English, Chad

doi:10.1115/1.3212088

Cited by 2 publications

References 24 publications

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Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

Markus

Sobczyk

Perondi

2022

Journal of Mechanisms and Robotics

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This work reports advances in enabling the use of pneumatic artificial muscles (PAM) as an alternative to electromechanical actuators in upper limb prostheses to take advantage of their low weight, clean, renewable energy source, and force compliance, which is especially suitable for interactions between machines and humans. It describes the model, simulation, and control of a 3-DoF mechanism representing a prosthetic finger using PAM actuators. Its main contribution is the combination and expansion of classic nonlinear models and control methods for robotic systems to allow PAM actuators in the intended application, especially regarding transient effects in the generation of PAM forces. The effectiveness of the proposed mechanism and its associated controller is verified through both numeric simulations and experimental results.

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Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

Markus

Sobczyk

Perondi

2022

Journal of Mechanisms and Robotics

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On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance

Palli

Berselli

2013

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems;

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Artificial Muscles based on Dielectric Elastomers (DE) can potentially enable the realization of bio-inspired actuation systems whose intrinsic compliance and damping can be varied according to the task requirements. Nonetheless, the control of DE-based Variable Impedance Actuators (VIA) is not trivial owing to the non-linear viscoelastic response which characterizes the acrylic dielectrics commonly employed in practical devices. In this context, the purpose of the present paper is to outline a novel strategy for the control of DE-based VIA. Although the proposed methodology is applicable to generic DE morphologies, the considered system is composed of a couple of conically-shaped DE films in agonistic-antagonistic configuration. Following previously published results, the system dynamic model is firstly recalled. Then, a DE viscoelasticity compensation technique is outlined together with a control law able to shape the DE actuator impedance as desired. The operative limits of the system are explicitly considered and managed in the controller by increasing the operating DE actuator stiffness if required. In addition, the problem of model uncertainties compensation is also addressed. Finally, as a preliminary step towards the realization of a practical DE-based VIA, the proposed control approach is validated by means of simulations.

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Mechanical Issues Inherent in Antagonistically Actuated Systems

Cited by 2 publications

References 24 publications

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance

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