Accession Number : ADA259786
Title : Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers
Descriptive Note : Memorandum rept.
Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
Personal Author(s) : Brock, David L
Report Date : Nov 1991
Pagination or Media Count : 24
Abstract : A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz.
Descriptors : *POLYMERS , *MUSCLES , *GELS , CONTROL , SIMULATION , VOLUME , FIBERS , ENERGY , TIME , NONLINEAR SYSTEMS , CHEMICAL REACTIONS , BASES(CHEMISTRY) , ACIDS , CONTRACTION , SLIDING , PH FACTOR , TRAJECTORIES , VALVES , ACTUATORS , EXTERNAL , TRACKS , MECHANICAL ENERGY , RESPONSE , VARIATIONS , TRACKING , CONTROL SYSTEMS , MODELS , CHEMICALS , DYNAMICS
Subject Categories : Anatomy and Physiology
Non-electrical Energy Conversion
Distribution Statement : APPROVED FOR PUBLIC RELEASE