Robust variable stiffness control of McKibben type pneumatic artificial muscle arm by using multiple model error compensators

Yamamoto, Yuto; Matsunaga, Nobutomo; Okajima, Hiroshi

doi:10.23919/iccas.2017.8204362

Cited by 7 publications

(2 citation statements)

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“…In the case of rehabilitation, the stiffness prescribed by physiotherapists changes according to the treatment phase; thus, it must be adjusted step-by-step. There have been several studies on a model-based stiffness or compliance control using a PAM actuator [4,[9][10][11][12][13][14][15][16][17][18], and some of the studies are as follows. Cao et al [16] proposed model-based angle-compliance control to develop a robotic gait rehabilitation device.…”

Section: Introductionmentioning

confidence: 99%

“…The contribution of this study is that the proposed sensor-less angle/stiffness control method using a UKF represents a novel approach in robotics. Moreover, it does not require any encoder, which previous relevant studies [4,[9][10][11][12][13][14][15][16][17][18] have relied upon, to achieve simultaneous control. This sensor-less angle/stiffness control approach can realize a low-cost, lightweight actuator that ensures safe contact with humans and environments.…”

Section: Introductionmentioning

confidence: 99%

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Sensor-less Angle and Stiffness Control of Antagonistic PAM Actuator Using Reference Set

Shin¹,

Kogiso²

2021

Preprint

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This paper proposes a simultaneous control method for the angle and stiffness of the joint in an antagonistic pneumatic artificial muscle (PAM) actuator system using only pressure measurements, and clarifies the allowable references for the PAM actuator system. To achieve a sensor-less control, the proposed method estimates the joint angle and contraction forces using an unscented Kalman filter that employs a detailed model of the actuator system. Unlike previous control methods, the proposed method does not require any encoder and force sensor to achieve angle and stiffness control of the PAM actuator system. Experimental validations using three control scenarios confirm that the proposed method can control the joint angle and stiffness simultaneously and independently. Moreover, it is shown that a reference admissible set can be used as an indicator to establish reference values by demonstrating that the reference set covers the experimentally obtained trajectories of the angle and stiffness.

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