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Academic literature on the topic 'Miniaturized pneumatic artificial muscles'

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Published: 6 September 2023

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Journal articles on the topic "Miniaturized pneumatic artificial muscles"

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Díaz-Zagal, S., C. Gutiérrez-Estrada, E. Rendón-Lara, I. Abundez-Barrera, and J. H. Pacheco-Sánchez. "Pneumatic Artificial Mini-Muscles Conception: Medical Robotics Applications." Applied Mechanics and Materials 15 (August 2009): 49–54. http://dx.doi.org/10.4028/www.scientific.net/amm.15.49.

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Actually, the pneumatic artificial muscles of McKibben type [1] show a great functional similarity with the skeletal muscle. A detailed analysis of the system has been performed to better characterize this similarity with the analogous dynamic behavior of the organic system. Such analysis has shown that the McKibben-type artificial muscle can be adapted to the Hill fundamental model [2]. Research regarding pneumatic artificial muscle with application to robotics has recently focused on mini-actuators for miniaturized robotics systems. This is specially true in the area of medical robotics, but an extension of miniactuator technology to other applications may be feasible, such as the development of artificial fine-motion limbs (hands and/or fingers). The present work details the artificial muscle miniaturization process developed in the LESIA laboratory, their behavior, their position and force control characteristics, as well as the possible applications of this technology to medical robotics.
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Zabihollah, Shakila, Seyed Alireza Moezi, and Ramin Sedaghati. "Design Optimization of a Miniaturized Pneumatic Artificial Muscle and Experimental Validation." Actuators 12, no. 6 (May 25, 2023): 221. http://dx.doi.org/10.3390/act12060221.

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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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Ashwin, K. P., and Ashitava Ghosal. "Static Modeling of Miniaturized Pneumatic Artificial Muscles, Kinematic Analysis, and Experiments on an Endoscopic End-Effector." IEEE/ASME Transactions on Mechatronics 24, no. 4 (August 2019): 1429–39. http://dx.doi.org/10.1109/tmech.2019.2916783.

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Tiwari, Rashi, Michael A. Meller, Karl B. Wajcs, Caris Moses, Ismael Reveles, and Ephrahim Garcia. "Hydraulic artificial muscles." Journal of Intelligent Material Systems and Structures 23, no. 3 (February 2012): 301–12. http://dx.doi.org/10.1177/1045389x12438627.

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This article presents hydraulic artificial muscles as a viable alternative to pneumatic artificial muscles. Despite the actuation mechanism being similar to its pneumatic counterpart, hydraulic artificial muscles have not been widely studied. Hydraulic artificial muscles offer all the same advantages of pneumatic artificial muscles, such as compliance, light weight, low maintenance, and low cost, when compared to traditional fluidic cylinder actuators. Muscle characterization in isometric and isobaric conditions are discussed and compared to pneumatic artificial muscles. A quasi-static model incorporating the effect of mesh angle, friction, and muscle volume change throughout actuation is presented. This article also discusses the use of hydraulic artificial muscles for low-pressure hydraulic mesoscale robotic leg.
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Tóthová, Mária, Ján Piteľ, and Jana Boržíková. "Operating Modes of Pneumatic Artificial Muscle Actuator." Applied Mechanics and Materials 308 (February 2013): 39–44. http://dx.doi.org/10.4028/www.scientific.net/amm.308.39.

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The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.
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Wirekoh, Jackson, and Yong-Lae Park. "Design of flat pneumatic artificial muscles." Smart Materials and Structures 26, no. 3 (February 7, 2017): 035009. http://dx.doi.org/10.1088/1361-665x/aa5496.

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Sorge, Francesco. "Dynamical behaviour of pneumatic artificial muscles." Meccanica 50, no. 5 (December 18, 2014): 1371–86. http://dx.doi.org/10.1007/s11012-014-0084-x.

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Gyeviki, János, József Sárosi, Antal Véha, and Péter Toman. "Experimental investigation of characteristics of pneumatic artificial muscles." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 244–48. http://dx.doi.org/10.14232/jtgf.2010.1-2.244-248.

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The characteristics of pneumatic artificial muscles (PAMs) make them very interesting for the development of robotic and prosthesis applications. The McKibben muscle is the most popular and is made commercially available by different companies. The aim of this research is to acquire as much information about the pneumatic artificial muscles as we can with our test-bed that was developed by us and to be able to adopt these muscles as a part of prosthesis. This paper presents the set-up constructed, and then describes some mechanical testing results for the pneumatic artificial muscles.
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Verrelst, Bj�rn, Ronald Van Ham, Bram Vanderborght, Frank Daerden, Dirk Lefeber, and Jimmy Vermeulen. "The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles." Autonomous Robots 18, no. 2 (March 2005): 201–13. http://dx.doi.org/10.1007/s10514-005-0726-x.

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Versluys, Rino, Kristel Deckers, Michaël Van Damme, Ronald Van Ham, Gunther Steenackers, Patrick Guillaume, and Dirk Lefeber. "A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles." Applied Bionics and Biomechanics 6, no. 1 (2009): 3–9. http://dx.doi.org/10.1155/2009/298125.

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Pleated pneumatic artificial muscles have interesting properties that can be of considerable significance in robotics and automation. With a view to the potential use of pleated pneumatic artificial muscles as actuators for a fatigue test bench (high forces and small displacements), the bandwidth characteristics of a muscle-valve system were investigated. Bandwidth is commonly used for linear systems, as the Bode plot is independent of the amplitude of the input signal. However, due to the non-linear behaviour of pleated pneumatic artificial muscles, the system's gain becomes dependent on the amplitude of the input sine wave. As a result, only one Bode plot is insufficient to clearly describe or identify a non-linear system. In this study, the bandwidth of a muscle-valve system was assessed from two perspectives: a varying amplitude and a varying offset of the input sine wave. A brief introduction to pneumatic artificial muscles is given. The concept of pleated pneumatic artificial muscles is explained. Furthermore, the different test methods and experimental results are presented.
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Dissertations / Theses on the topic "Miniaturized pneumatic artificial muscles"

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Chandrapal, Mervin. "Intelligent Assistive Knee Orthotic Device Utilizing Pneumatic Artificial Muscles." Thesis, University of Canterbury. Mechanical Engineering, 2012. http://hdl.handle.net/10092/7475.

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This thesis presents the development and experimental testing of a lower-limb exoskeleton system. The device supplies assistive torque at the knee joint to alleviate the loading at the knee, and thus reduce the muscular effort required to perform activities of daily living. The hypothesis is that the added torque would facilitate the execution of these movements by people who previously had limited mobility. Only four specific movements were studied: level-waking, gradient-walking, sit-to-stand-to-sit and ascending stairs. All three major components of the exoskeleton system, i.e. the exoskeleton actuators and actuator control system, the user intention estimation algorithm, and the mechanical construction of the exoskeleton, were investigated in this work. A leg brace was fabricated in accordance with the biomechanics of the human lower-limb. A single rotational degree of freedom at the knee and ankle joints was placed to ensure that the exoskeleton had a high kinematic compliance with the human leg. The position of the pneumatic actuators and sensors were also determined after significant deliberation. The construction of the device allowed the real-world testing of the actuator control algorithm and the user intention estimation algorithms. Pneumatic artificial muscle actuators, that have high power to weight ratio, were utilized on the exoskeleton. An adaptive fuzzy control algorithm was developed to compensate for the inherent nonlinearities in the pneumatic actuators. Experimental results confirmed the effectiveness of the adaptive controller. The user intention estimation algorithm is responsible for interpreting the user's intended movements by estimating the magnitude of the torque exerted at the knee joint. To accomplish this, the algorithm utilizes biological signals that emanate from the knee extensor and flexor muscles when they are activated. These signals combined with the knee angle data are used as inputs to the estimation algorithm. The output is the magnitude and direction of the estimated torque. This value is then scaled by an assistance ratio, which determines the intensity of the assistive torque provided to the user. The experiments conducted verify the robustness and predictability of the proposed algorithms. Finally, experimental results from the four activities of daily living, affirm that the desired movements could be performed successfully in cooperation with the exoskeleton. Furthermore, muscle activity recorded during the movements show a reduction in effort when assisted by the exoskeleton.
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Loccisano, Anthony. "Online Variable Recruitment for Pneumatic Artificial Muscles with Springs." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279666.

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Pneumatic artificial muscles (PAMs) have gained attention in the realm of soft robotics for their high power to weight ratio, low manufacturing cost, low weight, and relatively high compliance. This makes them appear as a great candidate for exoskeletons. An area of recent research involves variable recruitment, the process of successively activating individual PAMs from a set to improve overall system efficiency. While a few simulation and quasi-static studies exist, very little research has investigated real time switching with a physical system. In the quasi-static studies, the buckling of non-activated PAMs has been a consistent issue. In this thesis, a set of six parallel PAMs are connected serially to individual springs to prevent non-activated PAMs from buckling during contraction. The system is run through both a batch and orderly, open loop recruitment cycle to better understand transition effects and energy consumption. It was found that the batch method uses more energy and is prone to disturbances during transitions. The serial elastic elements do prevent buckling at the cost of individual recruitment level movement capability. Recommendations for implementing the switching strategies and how to use springs are given.
Pneumatiska artificiella muskler (PAM) har fått uppmärksamhet inom området för mjuk robotik för deras höga effekt-/viktförhållande, låga tillverkningskostnader, låg vikt och relativt enkla att implementera. Detta gör dem till bra kandidater för exoskelett. Ett område inom ny forskning innefattar variabel rekrytering, en process där man successivt aktiverar enskilda PAM i ett system bestående av flera sådana, för att förbättra den totala systemeffektiviteten. Medan några simulerings- och kvasistatiska studier existerar, har väldigt lite forskning undersökt realtidskoppling med ett fysiskt system. I de kvasistatiska studierna har knäckningen av ickeaktiverade PAM: er varit en konsekvent fråga. I detta projekt är en uppsättning av sex parallella PAM-serier anslutna seriellt till enskilda fjädrar för att förhindra att icke-aktiverade PAM-skivor knäcks under sammandragning. Systemet körs genom både en "batch-" och en "orderly-"openloop-rekryteringscykel för att bättre förstå övergångseffekter och energiförbrukning. Det visade sig att batchmetoden använder mer energi och är mer benägen att påverkas av att störningar under övergångar. Fjädrarna förhindrar dock knäckning på bekostnad av individuell rekryteringsnivå. Rekommendationer för att implementera omkopplingsstrategierna och hur man använder fjädrar ges.
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Yang, Hee Doo. "Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78284.

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The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a good fit for exoskeleton robots because of their light weight, small size, and flexible materials. This is because a wearable robot should be human friendly, therefore, it should be light weight, slim, powerful, and simple. In this paper, a novel pneumatic artificial muscle using soft materials including integrated electronics for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. Compared to traditional pneumatic muscle actuators such as the McKibben actuator and new soft actuators that were recently proposed, the novel actuator overcomes shortcomings of prior work. This is due to the actuator's very high contraction ratio that can be controlled by the manufacturing process. In this paper, we describe the design, fabrication, and evaluation of a novel pneumatic actuator that can accommodate integrated electronics for displacement and pressure measurements used for data analysis and control. The desired performance characteristics for the actuator were 100 ~ 400N at between 35kPa and 105kPa, and upon testing we found almost 120 ~ 300N which confirms that these actuators may be suitable in soft exoskeleton applications with power requirements comparable to rigid exoskeletons. Furthermore, a novel soft pneumatic elbow exoskeleton based on the pneumatic actuator concept and manufacturing process is presented. Each structure is designed and manufactured with all fabric. The distally-worn structure is only 300g, which is light weight for an arm exoskeleton, and the design is simple, leading to a low materials cost.
Master of Science
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RAMOS, JOAO LUIZ ALMEIDA DE SOUZA. "TORQUE CONTROL OF AN EXOSKELETON ACTUATED BY PNEUMATIC ARTIFICIAL MUSCLES USING ELECTROMYOGRAPHIC SIGNALS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=22293@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
A robótica aplicada à reabilitação e amplificação humana está em uma fase iminente de se tornar parte de nossa vida diária. A justaposição da capacidade de controle humana e o poder mecânico desenvolvido pelas máquinas oferecem uma promissora solução para auxílio físico e de amplificação humana. O presente trabalho apresenta um exoesqueleto ativo para membros superiores controlado por uma alternativa e simples Interface Homem-Máquina (HMI) que utiliza o Modelo Muscular de Hill para aumentar a força e resistência mecânica do usuário. Músculos Pneumáticos Artificiais (PAM) são utilizados como atuadores por sua alta razão entre potência e peso e atuam o sistema através de um esquema com cabos de aço. Algoritmos Genéticos (GA) aproximam localmente os parâmetros do modelo matemático do atuador e o modelo fisiológico do músculo, que utiliza sinais eletromiográficos superficiais (sEMG) para estimar o torque na articulação do exoesqueleto. A metodologia proposta oferece três vantagens principais: (i) reduz o número de eletrodos necessários para monitorar a atividade muscular, (ii) elimina a necessidade de transdutores de força ou pressão entre o exoesqueleto e o usuário ou o ambiente e (iii) reduz o custo de processamento em tempo-real, necessário para implementações de sistemas embarcados. O exoesqueleto é restrito ao membro superior direito e a estratégia de controle é avaliada verificando o desempenho do usuário ao manipular uma carga de 3.1kg estática e dinamicamente com e sem o auxílio do equipamento assistivo.
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and physical enhancement. This work presents an upper limb active exoskeleton controlled by an alternative and simple Human-Machine Interface (HMI) that uses a Hill Muscle Model for strength and endurance amplification. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio and to drive the system through a cable arrangement. Genetic Algorithms (GA) approach locally optimizes the model parameters for the actuator mathematical model and the physiologic muscle model that uses the surface electromyography (sEMG) to estimate the exoskeleton joint torque. The proposed methodology offers three main advantages: (i) it reduces the number of electrodes needed to monitor the muscles, (ii) it eliminates the need for user force or pressure sensoring, and (iii) it reduces the real-time processing effort which is necessary for embedded implementation and portability. The exoskeleton is restricted to the right upper limb and the control methodology is validated evaluating the user performance while dynamically and statically handling a 3.1kg payload with and without the aid of the assistive device.
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Obiajulu, Steven (Steven C. ). "Soft pneumatic artificial muscles with low threshold pressures for a cardiac compression device." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/83730.

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Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 45-47).
In this paper, I present the design, fabrication and characterization of fully soft pneumatic artificial muscles (PAMs) with low threshold pressures that are intended for direct cardiac compression (DCC). McKibben type PAMs typically have a threshold pressure of at least lOOkPa and require rigid end fittings which may damage soft tissue and cause local stress concentrations, and thus failure points in the actuator. The actuator design I present is a variant on the McKibben PAM with the following key differences: the nylon mesh is embedded in the elastomeric tube, and closure of the end of the tube is achieved without rigid ends. The actuators were tested to investigate the effects of mesh geometry and elastomer material on force output, contraction, and rise time. Lower initial braid angles and softer elastomer materials provided the best force, contraction, and rise times; Up to 50N of force, 24% contraction, and response times of 0.05s were achieved at 100kPa. The actuators exhibited low threshold pressures (<5kPa) and high rupture pressures (138kPa - 720kPa) which suggest safe operation for the DCC application. These results demonstrate that the actuators can achieve forces, displacements, and rise times suitable to assist with cardiac function.
by Steven Obiajulu.
S.B.
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Pan, Min, Zhe Hao, Chenggang Yuan, and Andrew Plummer. "Development and control of smart pneumatic mckibben muscles for soft robots." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71262.

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Animals exploit soft structures to move smoothly and effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft actuating technologies into their designs. Developing soft muscle-like actuation technology is one of the grand challenges in the creation of soft-body robots that can move, deform their body, and modulate body stiffness. This paper presents the development of smart pneumatic McKibben muscles woven and reinforced by using conductive insulated wires to equip the muscles with an inherent sensing capability, in which the deformation of the muscles can be effectively measured by calculating the change of wire inductance. Sensing performance of a variety of weaving angles is investigated. The ideal McKibben muscle models are used for analysing muscle performance and sensing accuracy. The experimental results show that the contraction of the muscles is proportional to the measured change of inductance. This relationship is applied to a PID control system to control the contraction of smart muscles in simulation, and good control performance is achieved. The creation of smart muscles with an inherent sensing capability and a good controllability is promising for operation of future soft robots.
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Ashwin, K. P. "Development of a Flexible Actuator and Motion Planning for Endoscopic Robots." Thesis, 2018. https://etd.iisc.ac.in/handle/2005/5435.

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Endoscopy is a procedure by which a long flexible device called the `endoscope' is inserted into a patient's gastro-intestinal(GI) tract primarily for diagnosis. An endoscope is typically equipped with a camera, fiber-optic lighting system and nozzle for spraying water or pumping air. Most commercial endoscopes are also equipped with a catheter channel for passing instruments (catheters) for specific treatments and diagnostic procedures. The thesis aims at addressing two common issues faced by endoscopists: 1) Actuation and positioning of the catheter tip at a desired location while maintaining a stationary camera focus and 2) Manoeuvring the endoscope inside the stomach while avoiding the curling of scope and perforation of tissue walls. Efficient methods to solve these problems could reduce the procedure time and hence, overall discomfort experienced by the patients. In order to address the first problem, a flexible end-effector for independently actuating the catheter is developed and analysed. The design uses miniaturized pneumatic artificial muscles (MPAMs) for actuating the end-effector. For analysis and implementation, a mathematical model which accurately predicts the pressure-deformation characteristics of MPAM is necessary and hence, a detailed survey on existing models for PAMs as well as MPAMs was conducted. Comparison between static characteristics of PAMs obtained from different phenomenological models in the literature and experiments conducted on the in-house fabricated MPAMs show that the existing models are either inaccurate or inconsistent with changes in fabrication parameters of MPAMs. Hence, a new and improved mathematical model for the pressure-deformation characteristics of MPAM is derived. For MPAMs with less than 2 mm diameter and lengths ranging from 40 mm to 70 mm, it is shown that the developed model could consistently predict the deformation characteristics of the prototype with less than 5% error. An end-effector prototype which uses three MPAMs for actuation is fabricated and tested. The prototype which is 55 mm long with an outer diameter of 8 mm could detect a commercial forceps catheter tip by about 20 mm in different directions. An iterative scheme for the forward kinematics of end-effector which takes into account the static characteristics of MPAMs is also developed. The forward kinematics model could predict the final pose of the end-effector with a maximum error of 2 mm at the tip. An inverse kinematic strategy, using the projection of the workspace of the end-effector is developed and the end-effector actuation is implemented in real-time, taking input from a thumb-stick. The second problem faced in endoscopy is partially addressed by proposing the use of a multi-segmented continuum endoscopic robot. To this end, a new optimization based approach to solve forward kinematics of a single segment of the robot is presented at first. Actuation of the continuum robot in 2D plane is mathematically proven to provide the exact configuration as that obtained from differential geometry based methods. Simulations conducted with different number of segments also validate the same, barring the cumulative errors arising from the numerical solution procedure. The method is extended to 3D and is also verified using numerical simulations. For the multi-segmented robot, a motion planning algorithm to con ne the travel of the robot within the GI tract is developed. Different methods to represent ducts in 2D and 3D are discussed and a tractrix based optimization scheme is developed for each representations. Motion of an endoscope through GI tract is simulated using a GI tract pro le obtained from the CT scan data of human viscus. The proposed method is shown to confine the movement of the endoscope within the tract, while emulating realism.
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Nikkhah, Arman. "Mechanical design, dynamic modeling and control of hydraulic artificial muscles." Thesis, 2020. http://hdl.handle.net/1828/11999.

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Artificial human muscles have traditionally been operated through pneumatic means, and are known as Pneumatic Artificial Muscles (PAMs). Over the last several decades, Hydraulic Artificial Muscles (HAMs) have also been investigated due to their high power-to-weight ratio and human-like characteristics. Compared to PAMs, HAMs typically exhibit faster response, higher efficiency, and superior position control; characteristics which provide potential for application in rehabilitation robotics. This thesis presents a new approach to actuate artificial muscles in an antagonistic pair configuration. The detailed mechanical design of the test platform is introduced, along with the development of a dynamic model for actuating an artificial elbow joint. Also, custom manufactured Oil-based Hydraulic Artificial Muscles (OHAMs) are implemented in a biceps-triceps configuration and characterized on the test platform. Furthermore, an integrator-backstepping controller is derived for HAMs with different characteristics (stiffness and damping coefficients) in an antagonistic pair configuration. Finally, simulations and experimental results of the position control of the artificial elbow joint are discussed to confirm the functionality of the OHAMs utilizing the proposed actuating mechanism and the effectiveness of the developed control algorithm.
Graduate
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Γρυπάρης, Δημήτριος. "Ανάπτυξη και λειτουργία διπλού παράλληλου μηχανισμού με τεχνητούς πνευματικούς μύες." Thesis, 2014. http://hdl.handle.net/10889/8035.

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Η παρούσα διπλωματική εργασία περιλαμβάνει την σχεδίαση και τον έλεγχο μέσω προγράμματος σε περιβάλλον LabView, ενός διπλού παράλληλου μηχανισμού με Τεχνητούς Πνευματικούς Μύες (Pneumatic Artificial Muscles (PAMs)). Η μηχανική διάταξη που κατασκευάστηκε είναι ένας διπλός παράλληλος μηχανισμός βασισμένος σε δύο τροποποιημένες πλατφόρμες τύπου Stewart. Ως ενεργοποιητές για την κίνηση στις πλατφόρμες χρησιμοποιήθηκαν Τεχνητοί Πνευματικοί Μύες ενώ για την στήριξη αυτών σε συγκεκριμένο ρυθμιζόμενο ύψος πνευματικά έμβολα διπλής δράσης, με μη περιστρεφόμενα πιστόνια. Παράλληλα, πάνω στις πλατφόρμες τοποθετήθηκαν δύο κλισιόμετρα προκειμένου να παρέχουν πληροφορίες για την κλίση αυτών. Ο έλεγχος της πίεσης του αέρα που υπάρχει στους μύες και στα έμβολα γίνεται μέσω αναλογικών ρυθμιστών πίεσης. Σε λειτουργία Ανοικτού Βρόγχου (Open loop Operation) ο μηχανισμός μπορεί να εκτελέσει παράλληλες ή περιστροφικές κινήσεις σε κάθε πλατφόρμα ξεχωριστά ή και στις δύο ταυτόχρονα. Ο χρήστης επιλέγει το εύρος της κίνησης αλλά και τη συχνότητα εκτέλεσής της. Στα πλαίσια της παρούσας διπλωματικής εργασίας, μελετήθηκε η ανταγωνιστική λειτουργία των μυών και εξετάστηκαν τρόποι για την βελτίωσή της. Σε λειτουργία κλειστού βρόγχου (Closed Loop Operation) ο χρήστης εισάγει στον υπολογιστή με τον οποίο είναι συνδεδεμένη η διάταξη, τις επιθυμητές γωνίες στις οποίες θέλει να βρεθεί η κάθε πλατφόρμα. Υλοποιείται αλγόριθμος ελέγχου τύπου PID για κάθε ζεύγος μυών και μέσω αυτών υπολογίζονται οι κατάλληλες πιέσεις που πρέπει να έχει ο κάθε μυς, ώστε οι πλατφόρμες να επιτύχουν την επιθυμητή γωνία. Όλες οι διεργασίες ελέγχου της πλατφόρμας τόσο σε λειτουργία ανοικτού όσο και σε λειτουργία κλειστού βρόχου υλοποιούνται μέσω τους προγραμματιστικού περιβάλλοντος LabView της εταιρείας National Instruments (NI).
This thesis, presents the development of a double parallel mechanism actuated by Pneumatic Artificial Muscles (PAMs) and controlled via LabView. The mechanical arrangement is a double parallel mechanism based on two modified Stewart platforms. PAMs have been used as platforms’ actuators and also non revolute double action pneumatic cylinders have been incorporated in order to support them at a user specified height. In addition two dual axis inclinometers have been utilized in order to provide the necessary angle feedback for the control loop. The pressure regulation in the PAMs and in the pneumatic cylinders is performed by proportional pressure regulators. In the Open Loop Operation, the mechanism can perform parallel or circular motions, in each platform independently or combined. The user chooses the range and the frequency of the performed motion. Furthermore the antagonistic operation of the PAMs has been studied. In the Closed Loop Operation the user inserts the platforms’ desired angles. A PID controller is implemented for every pair of antagonistic muscles, giving the necessary pressures in the antagonistic PAMs. All the control operations both in Open and Closed Loop are performed via National’s Instruments LabView software.
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Γιαννίκος, Γεώργιος. "Μελέτη, κατασκευή και έλεγχος (με PLC) συστήματος ολισθαίνουσας συστοιχίας πνευματικών μυών." Thesis, 2013. http://hdl.handle.net/10889/6710.

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Η προσομοίωση της κίνησης των ζώων αποτελεί αντικείμενο έρευνας στον τομέα της ρομποτικής από το 1960. Έκτοτε έχουν κατασκευαστεί πολλά ρομπότ τα οποία εξομοιώνουν πλήρως την κίνηση των θηλαστικών, των πτηνών και των ερπετών και συμπεριφέρονται ακριβώς όπως αυτά. Συγκεκριμένα στον τομέα των ερπετών ο Hirose το 1972 παρουσίασε το τον ACMIII, το πρώτο φίδι ρομπότ, το οποίο μπορούσε να κινηθεί μόνο σε λεία επιφάνεια, προσομοιώνοντας την κίνηση του φιδιού. Εν συνεχεία, με την πρόοδο της τεχνολογίας και τον πνευματικό κόπο χιλιάδων επιστημόνων, κατασκευάστηκαν διάφορα εξελιγμένα μοντέλα ρομπότ-φιδιών με τεράστιες δυνατότητες. Αποτελεί, πλέον, πραγματικότητα η ύπαρξη ρομπότ-φιδιών, που μπορούν να κινηθούν σε οποιαδήποτε επιφάνεια. Στη διπλωματική αυτή πραγματοποιήθηκε η κατασκευή και η λειτουργία ενός σύνθετου ενεργοποιητή αποτελούμενου από μια συστοιχία πνευματικών μυών πεπιεσμένου αέρα και ελεγχόμενου μέσω ενός προγραμματιζόμενου λογικού ελεγκτή (PLC). Τα έμβολα συνδέονται μεταξύ τους είτε με σταθερή είτε με ελεύθερη άρθρωση επιτρέποντας στη συστοιχία να κινηθεί ευθύγραμμα ή καμπυλόγραμμα αντίστοιχα. Κατά την ευθύγραμμη κίνηση η κατασκευή αποτελείται από 7 τεχνητούς μύες, οι οποίοι συνδέονται μεταξύ τους με σταθερή άρθρωση και τροφοδοτούνται από ψηφιακές βαλβίδες. Επίσης, η συστοιχία είναι εφοδιασμένη με μια συμπαγή σιδερένια κατασκευή ως ουρά και έναν αυτοσχέδιο μηχανισμό φρένων. Ο χρήστης, αφού φορτώσει το αντίστοιχο πρόγραμμα στην CPU του PLC, με το πάτημα ενός μπουτόν ξεκινά την κίνηση της διάταξης. Στο πρόγραμμα αυτό χρησιμοποιείται ένα πλήθος από χρονομετρητές οι οποίοι καθορίζουν πότε πραγματοποιείται η διαστολή και η συστολή των εμβόλων ρυθμίζοντας έτσι τη συμπεριφορά του πνευματικού ενεργοποιητή. Στην παρούσα διπλωματική αναλύθηκαν 3 μοτίβα ευθύγραμ-μης κίνησης. Στο πρώτο μοτίβο η συστολή και η διαστολή είναι ανεξάρτητες, στο δεύτερο έχουμε διαδοχική συστολή/διαδοχική διαστολή και στο τρίτο η διαστολή επικαλύπτει τη συστολή. Η διακοπή της κίνησης γίνεται μέσω του μπουτόν λήξης. Για το σενάριο της οφιοειδούς και της πλάγιας κίνησης η κατασκευή αποτελείται από 5 τεχνητούς πνευματικούς ενεργοποιητές. Οι 4 χρησιμοποιούνται ως ενεργό μέρος της συστοιχίας, ενώ ο πέμπτος ως κεφαλή. Ανάμεσα στα έμβολα υπάρχει αρθρωτή ζεύξη με δυνατότητα κίνησης. Έτσι, κατά τη συστολή και την διαστολή των μυών δημιουργείται μια γωνία μεταξύ τους. Ρυθμίζοντας αυτή τη γωνία κατάλληλα μέσω της πίεσης επιτυγχάνουμε την οφιοειδή κίνηση του σύνθετου πνευματικού ενεργοποιητή. Ο χρήστης μέσω μπουτόν έχει τη δυνατότητα να ελέγχει την κίνηση της συστοιχίας. Επιλέγει την έναρξη και τη λήξη της κίνησης καθώς και το αναποδογυρίζει. Στην ευθύγραμμη κίνηση εστιάσαμε την προσοχή μας στην εύρεση του βέλτιστου πλάνου κίνησης ώστε να επιτευχθεί το γρηγορότερο αποτέλεσμα. Από την άλλη μεριά στην καμπυλόγραμμη κίνηση τα πράγματα δεν ήταν τόσο απλά. Κύριο ζητούμενο εδώ ήταν η προσομοίωση της οφιοειδούς κίνησης. Η αδυναμία εφαρμογής του θεωρητικού υπόβαθρου που ήδη υπάρχει για τα φίδια-ρομπότ, εξαιτίας της ασυμμετρίας της κατασκευής, της αδυναμίας να επιτευχθούν οι επιθυμητές γωνίες λόγω παραμόρφωσης του σκελετού και της μη γραμμικής συμπεριφοράς της, οδήγησαν στη διενέργεια πολλών πειραμάτων ώστε να υπερκεραστούν οι δυσκολίες και να επιτευχθεί το επιθυμητό αποτέλεσμα. Παράλληλα, στην πλάγια κίνηση μελετήθηκε η ικανότητα μετακίνησης της συστοιχίας σε ανισόπεδα τερέν. Κατά τη διάρκεια των πειραμάτων παρουσιάστηκε μια πληθώρα προβλημάτων τα οποία έπρεπε να αντιμετωπιστούν τόσο στην ευθύγραμμη όσο και στην οφιοειδή κίνηση. Λόγω της μεγάλης δύναμης που ασκούν οι μύες κατά την εκτόνωσή τους και του μικρού συντελεστή τριβής του εδάφους του εργαστηρίου, η συστοιχία κατά τη διαστολή των εμβόλων ολίσθαινε προς τα όπισθεν, δημιουργώντας έτσι σημαντική καθυστέρηση στην συνολική μετακίνηση της συστοιχίας. Για την αντιμετώπιση του φαινομένου αυτού χρησιμοποιήθηκε ένα σιδερένιο βαρίδιο και ένα αυτοσχέδιο φρένο στην “ουρά” της συστοιχίας, που συγκρατούσαν τη συστοιχία κατά τη διαστολή των μυών και την ωθούσαν προς τα εμπρός. Αυτή η μεγάλη δύναμη των μυών ήταν πρόβλημα και για την καμπυλόγραμμη κίνηση, καθώς προκαλούσε παραμόρφωση του σκελετού, εισάγοντας έτσι σημαντικούς περιορισμούς στη μέγιστη πίεση των μυών. Ταυτόχρονα, οδηγούσε σε “χαλάρωση” των βιδών που συγκρατούσαν την κινούμενη άρθρωση. Εκτός αυτών, ένα επιπλέον εμπόδιο που παρουσιάστηκε ήταν η παρακώλυση της κίνησης από τους σωλήνες που τροφοδοτούσαν τα έμβολα. Αυτό το θέμα ήταν μείζονος σημασίας για την οφιοειδή κίνηση, καθώς αν δεν ομαδοποιούνταν κατάλληλα οι σωλήνες, η μετακίνηση της συστοιχίας ήταν μηδενική. Τέλος, οι βαλβίδες έπρεπε να είχαν τη δυνατότητα της εύκολης μετακίνησης, καθώς, λόγω του περιορισμένου μήκους σωλήνων, εισάγονταν περιορισμοί στο διάστημα που μπορούσε να διανύσει η συστοιχία. Τα θέματα αυτά αντιμετωπίσθηκαν με πρακτικούς τρόπους ώστε η μεταφορά των βαλβίδων να γίνεται εύκολα και με ασφάλεια, χωρίς να παρενοχλείται η κίνηση. Εν κατακλείδι, το αποτέλεσμα της προσπάθειας αυτής ήταν να δημιουργηθεί ένας σύνθετος ενεργοποιητής, ο οποίος έχει τη δυνατότητα να κινείται πλάγια, ευθύγραμμα, καθώς και να προσομοιώνει την κίνηση του φιδιού σε πολύ ικανοποιητικό βαθμό με μικρό όμως αποτέλεσμα ως προς την ταχύτητα. Η χρήση αισθητήρων για μέτρηση της γωνίας που δημιουργείται μεταξύ των εμβόλων και η κατασκευή πιο ανθεκτικού σκελετού, ώστε να αντέχει στη μεγάλη δύναμη που ασκούν οι μύες, θα οδηγούσαν σε ένα καλύτερο αποτέλεσμα αλλά θα ξέφευγε από τα όρια της εργασίας αυτής.
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Book chapters on the topic "Miniaturized pneumatic artificial muscles"

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Kurita, Yuichi, Chetan Thakur, and Swagata Das. "Assistive Soft Exoskeletons with Pneumatic Artificial Muscles." In Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life, 217–42. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-34230-2_8.

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Lee, Yong Kwun, and Isao Shimoyama. "A Skeletal Framework Artificial Hand Actuated by Pneumatic Artificial Muscles." In Morpho-functional Machines: The New Species, 131–43. Tokyo: Springer Japan, 2003. http://dx.doi.org/10.1007/978-4-431-67869-4_7.

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Noritsugu, Toshiro, Masahiro Takaiwa, and Daisuke Sasaki. "Pneumatic Rubber Artificial Muscles and Application to Welfare Robotics." In Next-Generation Actuators Leading Breakthroughs, 255–66. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-991-6_22.

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Yan, Hua, Zhengyu Yang, Fei Ding, Shijie Xu, and Dengyin Zhang. "Design of a Peristaltic Pump Driven by Pneumatic Artificial Muscles." In Lecture Notes in Computer Science, 266–75. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-24271-8_24.

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Vanderborght, B., B. Verrelst, R. Van Ham, J. Vermeulen, J. Naudet, and D. Lefeber. "Control Architecture of LUCY, a Biped with Pneumatic Artificial Muscles." In Climbing and Walking Robots, 713–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_70.

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Vanderborght, Bram, Björn Verrelst, Ronald Van Ham, Michael Van Damme, and Dirk Lefeber. "Experimental Walking Results of LUCY, a Biped with Pneumatic Artificial Muscles." In Climbing and Walking Robots, 189–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_22.

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Lo Piccolo, Mattia Vincenzo, Giovanni Gerardo Muscolo, and Carlo Ferraresi. "Use of Pneumatic Artificial Muscles in a Passive Upper Body Exoskeleton." In Mechanisms and Machine Science, 78–85. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-76147-9_9.

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Zhang, Hongbo, Yunshuang Li, Yipin Guo, Xinyi Chen, and Qinyuan Ren. "Control of Pneumatic Artificial Muscles with SNN-based Cerebellar-Like Model." In Social Robotics, 824–28. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-90525-5_79.

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Yamazaki, Shota, Tatsuya Kishi, and Taro Nakamura. "Dynamic Characteristic Model for Pneumatic Artificial Muscles Considering Length of Air Tube." In Intelligent Robotics and Applications, 390–401. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-22879-2_36.

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Hitzmann, Arne, Shuhei Ikemoto, and Koh Hosoda. "Highly-Integrated Muscle-Spindles for Pneumatic Artificial Muscles Made from Conductive Fabrics." In Biomimetic and Biohybrid Systems, 171–82. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-24741-6_15.

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Conference papers on the topic "Miniaturized pneumatic artificial muscles"

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Pillsbury, Thomas E., Ryan M. Robinson, and Norman M. Wereley. "Miniaturized Pneumatic Artificial Muscles Actuating a Bio-Inspired Robot Hand." In ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/smasis2013-3262.

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Pneumatic artificial muscles (PAMs) are used in robotics applications for their light-weight design and superior static performance. Additional PAM benefits are high specific work, high force density, simple design, and long fatigue life. Previous use of PAMs in robotics research has focused on using “large,” full-scale PAMs as actuators. Large PAMs work well for applications with large working volumes that require high force and torque outputs, such as robotic arms. However, in the case of a compact robotic hand, a large number of degrees of freedom are required. A human hand has 35 muscles, so for similar functionality, a robot hand needs a similar number of actuators that must fit in a small volume. Therefore, using full scale PAMs to actuate a robot hand requires a large volume which for robotics and prosthetics applications is not feasible, and smaller actuators, such as miniature PAMs, must be used. In order to develop a miniature PAM capable of producing the forces and contractions needed in a robotic hand, different braid and bladder material combinations were characterized to determine the load stroke profiles. Through this characterization, miniature PAMs were shown to have comparably high force density with the benefit of reduced actuator volume when compared to full scale PAMs. Testing also showed that braid-bladder interactions have an important effect at this scale, which cannot be modeled sufficiently using existing methods without resorting to a higher-order constitutive relationship. Due to the model inaccuracies and the limited selection of commercially available materials at this scale, custom molded bladders were created. PAMs created with these thin, soft bladders exhibited greatly improved performance.
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Kato, Tomonori, Kazuki Sakuragi, Mingzhao Cheng, Ryo Kakiyama, Yuta Matsunaga, and Manabu Ono. "Development of Miniaturized Rubber Muscle Actuator Driven by Gas-Liquid Phase Change." In BATH/ASME 2016 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/fpmc2016-1702.

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The goal of this study is to develop a miniaturized artificial muscle in which a tiny compressor can be installed. Pneumatic actuators, such as pneumatic artificial rubber muscles (PARMs), have been widely used in many industrial and robotic research applications because they are compact and lightweight. However, the compressors driving such actuators are relatively large. To solve this problem, the authors have been researching soft actuators driven by gas-liquid phase changes (GLPCs). In this study, a fixed chamber containing a constantan heater and fluorocarbon was used to generate pressure instead of a compressor. The pressure generation caused by the GLPC was confirmed, and a PARM contraction experiment was then conducted. Additionally, a PI control system was built to test the step and frequency responses of the actuator. A frequency response of up to 4.0 Hz was determined, and the corner frequency was found to be approximately 1.5 Hz. The size of the actuator was reduced by removing the chamber and installing the heater in the rubber muscle. A PARM driving experiment was conducted, and the performance of the PARM was evaluated. The miniaturized actuator consumes less power than the original actuator.
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Lee, Hyuk Jin, Baek Chul Kim, and Ja Choon Koo. "Development of a Novel Pneumatic Artificial Muscles Actuator Embedded Backbone and Position Sensor Using 3D-Printer." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47209.

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This paper proposed a novel Pneumatic Artificial Muscles (PAM) actuator to solve critical problems that bring about buckling and disturb linear motion due to structure characteristics. The traditional PAM actuators in a relaxed state require an additional mechanism due to bucking. Also the PAM actuator need to precise external sensors. As a result, the size of the entire system is large and heavy, so it is difficult to miniaturize and integrate. Also the PAM actuators cannot be used in a small mechanism such as a robot hand tip. Therefor we proposed a novel PAM actuator that do not need to an additional mechanism such as link, joint, tendon and transmission and external sensors in order to eliminate these problems.
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Jien, Sumadi, Shinichi Hirai, Yoichiro Ogawa, Masahiko Ito, and Kenshin Honda. "Pressure control valve for McKibben artificial muscle actuators with miniaturized unconstrained pneumatic on/off valves." In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2009. http://dx.doi.org/10.1109/aim.2009.5229882.

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Koter, K., L. Podsedkowski, and T. Szmechtyk. "Transversal Pneumatic Artificial Muscles." In 2015 10th International Workshop on Robot Motion and Control (RoMoCo). IEEE, 2015. http://dx.doi.org/10.1109/romoco.2015.7219741.

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Mohseni, Omid, Ferreol Gagey, Gouping Zhao, Andre Seyfarth, and Maziar A. Sharbafi. "How far are Pneumatic Artificial Muscles from biological muscles?" In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9197177.

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Wereley, Norman, Curt Kothera, Edward Bubert, Benjamin Woods, Michael Gentry, and Robert Vocke. "Pneumatic Artificial Muscles for Aerospace Applications." In 50th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2009. http://dx.doi.org/10.2514/6.2009-2140.

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AL MA AITA, MALAK, MOHAMMAD AL, and MOUDAR ZGOUL. "Hysteresis Nonlinearities in Pneumatic artificial Muscles." In Fourth International Conference on Advances in Mechanical and Robotics Engineering - AMRE 2016. Institute of Research Engineers and Doctors, 2016. http://dx.doi.org/10.15224/978-1-63248-115-3-35.

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Gryparis, Dimitris, George Andrikopoulos, and Stamatis Manesis. "Parallel Robotic Manipulation via Pneumatic Artificial Muscles." In 11th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and and Technology Publications, 2014. http://dx.doi.org/10.5220/0005008700290036.

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VENEVA, IVANKA. "NEW PROPULSION SYSTEM WITH PNEUMATIC ARTIFICIAL MUSCLES." In Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2013. http://dx.doi.org/10.1142/9789814525534_0031.

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