Development of High Performance Pneumatic Muscle Actuator Systems
Final rept. 15 May 1998-30 Nov 1999
CALIFORNIA STATE UNIV LOS ANGELES
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In this project, a prototype pneumatic muscle actuator system resembling a human arm joint has been designed, fabricated, and tested. System identification of the actuator system with different types, sizes, and characteristics of rubber muscles were performed through static and dynamic tests, and experimental as well as theoretical models were developed. Contzol algorithms including a feed-forward algorithm suitable for the muscle actuator system was developed and implemented to compensate the time delay otherwise inherent in the response of the actuator system. The time delay of the muscle response depended on the type and size of the muscles. The larger muscle suffered larger time delay, although it provided larger power and stroke. The control algorithm equipped with the feed-forward compensation developed in this research is very effective in reducing the time delay in response. Excellent control performance of the pneumatic muscle actuator system was confirmed by experiments. This research has demonstrated the potential of using pneumatic muscle actuators for enhancing human strength and mobility.
- Numerical Mathematics
- Hydraulic and Pneumatic Equipment