Dissertations / Theses on the topic 'Muscoli Pneumatici'
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SIROLLI, SILVIA ALESSANDRA. "Studio di Muscoli Pneumatici Innovativi e Loro Integrazione in Vestiti Attivi a Scopo Riabilitativo." Doctoral thesis, Politecnico di Torino, 2015. http://hdl.handle.net/11583/2616404.
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La presente tesi espone lo sviluppo di muscoli pneumatici artificiali adatti ad essere integrati in un vestito attivo al fine di sviluppare un prototipo di maglietta per la movimentazione delle braccia con l’idea che l’uso di tessuti, invece che di esoscheletri rigidi, possano risolvere contemporaneamente i problemi di mobilità e di ergonomia.
Gli attuatori pneumatici tradizionali, com’è noto, hanno larga diffusione per l’elevato rapporto potenza-peso, i costi contenuti, la facilità d’installazione e la robustezza; assicurano una grande efficienza, specialmente in quelle applicazioni automatiche in cui sono richieste una serie di movimentazioni ripetitive o nelle applicazioni robotiche in ambienti confinati, come quello industriale. Ci sono altri ambiti, tuttavia, in cui i dispositivi ad azionamento pneumatico si trovano a operare in ambienti non confinati, nei quali gli attuatori tradizionali non trovano largo impiego. In determinate situazioni, per motivi di sicurezza, le movimentazioni devono avvenire evitando che le parti in movimento costituiscano un pericolo per gli utilizzatori. È il caso, ad esempio, del settore medico degli ausili attivi per la riabilitazione motoria e dei dispositivi ortotici, in cui il paziente si interfaccia direttamente con dispositivi che hanno una capacità di movimento autonoma. In questi casi è necessario che l’attuatore sia intrinsecamente sicuro; pertanto, non deve costituire un sistema rigido in movimento, ma presentare un’adeguata cedevolezza.
Nei suddetti casi, una soluzione è rappresentata dall’impiego di attuatori pneumatici non tradizionali progettati e realizzati ad hoc per specifiche applicazioni, quali i muscoli pneumatici artificiali, al cui sviluppo sono impegnati da diversi anni molti gruppi di ricerca. I muscoli pneumatici artificiali (PAM - Pneumatic Artificial Muscles) sono degli attuatori lineari flessibili che nascono ad imitazione del muscolo umano e, alimentati da energia pneumatica, aumentano di volume e si contraggono compiendo lavoro. Gli attuatori muscolari a fluido possono operare in ambienti ostili, con forti gradienti di temperatura, vibrazioni, polveri e disturbi elettromagnetici. Sono inoltre in grado di operare agevolmente in presenza di montaggi con disallineamenti significativi senza introdurre onerose sollecitazioni dovute a configurazioni iperstatiche. Sono economici, leggeri, capaci di esercitare grandi forze in rapporto al loro peso; sono dotati di tenute statiche e, pertanto, a differenza di quanto avviene nelle tenute striscianti, esenti da perdite per attriti e da fughe di fluido di lavoro; sono in grado di operare con fluidi diversi, come acqua, aria e olio, senza particolari esigenze.
Nel corso degli anni, diverse tipologie di muscoli pneumatici sono state utilizzate dai ricercatori per realizzare innumerevoli robot antropomorfi e ortesi per la riabilitazione.
Nel primo capitolo è illustrato il principio di funzionamento dei muscoli pneumatici e viene esposta una panoramica dello stato dell’arte di tali attuatori e delle principali ortesi per la movimentazione dell’arto superiore.
Le ortesi presenti in letteratura sono dispositivi piuttosto ingombranti che si servono di esoscheletri principalmente metallici come base d’appoggio. Per questo motivo, l’attività principale della tesi è stata lo sviluppo di muscoli pneumatici artificiali leggeri e affidabili, con rapporti potenza/peso elevati e in grado di fornire contrazioni vicine al 30% della propria lunghezza a riposo, al fine di garantire prestazioni tali da renderli idonei ad essere applicati in un vestito attivo per la riabilitazione delle braccia.
Nel secondo capitolo sono presentati i prototipi di muscoli realizzati presso il Politecnico di Torino (prototipi DIMEAS): i muscoli di stoffa e i muscoli a rete, le cui caratteristiche sono state studiate eseguendo dei test pressione-forza e pressione-contrazione mediante un banco prova allestito ad hoc. Vengono inoltre confrontate le prestazioni delle due differenti tipologie di muscolo ed è approfondito lo studio dei muscoli a rete, che risultano essere i più performanti e assolutamente idonei allo scopo. In particolare, nel terzo capitolo, vengono proposti due modelli, uno sperimentale e uno analitico, sviluppati allo scopo di rappresentare il comportamento dei prototipi a rete DIMEAS. Il modello sperimentale nasce con l’esigenza di rappresentare il più incisivamente possibile il prototipo a rete DIMEAS di taglia piccola (diametro interno 13 mm), al fine di fornire previsioni sullo stato futuro del muscolo durante le fasi di lavoro. In questo modo si ottengono delle formule in grado di descrive la probabile evoluzione del muscolo e che possono essere utilizzate per la buona gestione di un sistema di controllo adibito al comando di tali attuatori in possibili applicazioni. Il modello analitico, invece, rappresenta il modello fisico del muscolo. Si tratta di una formula nuova basata sulla geometria di un muscolo considerato nella fase di riposo e durante le fasi di lavoro. In questo modo si ottiene una formulazione matematica che permette di ricavare le grandezze di interesse del sistema in funzione di specifici parametri, permettendo di interpretare in termini qualitativi il comportamento del sistema. Questo modello può risultare quindi molto utile ai fini della progettazione perché permette di adattare la geometria dei muscoli in base alle esigenze di forze e contrazioni necessarie per le diverse applicazioni, compatibilmente con la struttura originale del muscolo su cui si basa il modello.
Nel quarto capitolo viene mostrato un prototipo di maglietta attiva per la movimentazione delle braccia in grado di compiere l’anteposizione del braccio, la flesso-estensione e la prono-supinazione dell’avambraccio. I muscoli utilizzati per l’esecuzione dei movimenti sono i prototipi a rete DIMEAS di taglia piccola (diametro interno 13 mm) di diverse lunghezze, per ottenere la contrazione necessaria a produrre i diversi movimenti. Sono inoltre presentate due proposte di circuiti elettropneumatici con relativi schemi di controllo per lo svolgimento di due possibili terapie per un paziente in fase di riabilitazione.
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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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Hall, Kara Lynn. "Dynamic Control for a Pneumatic Muscle Actuator to Achieve Isokinetic Muscle Strengthening." Wright State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=wright1307113453.
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Gerschutz, Maria J. "Dynamic Pneumatic Muscle Actuator Control System for an Augmented Orthosis." Wright State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=wright1210286543.
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Murillo, Jaime. "Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24104.
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Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life.
This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.
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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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Kopečný, Lukáš. "McKibbenův pneumatický sval - modelování a použití v hmatovém rozhraní." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-233458.
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This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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Henderson, Gregory Clark. "Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/47624.
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A control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual control of mono-articular or bi-articular muscles to be exercised while not inhibiting the subject's range of motion.
The control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the motion of the human knee by applying actuator forces in opposition to a specified muscle force profile. In this research, there is a discussion on the model of the human's lower body and how muscles are affected as a function of joint positions. Then it is discussed how to calculate for the forces needed by a pneumatic actuator to oppose the muscles to create the desired muscle force profile at a given joint angles. The proposed exoskeleton could be utilized either for rehabilitation purposes, to prevent muscle atrophy and bone loss of astronauts, or for muscle training in general.
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Davis, Steven T. "Braided pneumatic muscle actuators : enhanced modelling and performance in integrated, redundant and self healing actuators." Thesis, University of Salford, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.419130.
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Serres, Jennifer L. "Dynamic Characterization of a Pneumatic Muscle Actuator and Its Application to a Resistive Training Device." Wright State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=wright1227233038.
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Draper, Shane N. "Effects of Intermittent Pneumatic Compression on Delayed Onset Muscle Soreness (DOMS) in Long Distance Runners." Cleveland State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=csu1407279331.
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Bubert, Edward A. "Highly extensible skin for a variable wing-span morphing aircraft utilizing pneumatic artificial muscle actuation." College Park, Md. : University of Maryland, 2009. http://hdl.handle.net/1903/9332.
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Thesis (M.S.) -- University of Maryland, College Park, 2009.Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Leclair, Justin. "Development and Testing of an Unpowered Ankle Exoskeleton for Walking Assist." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/34463.
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Assistive technologies traditionally rely on either strong actuation or passive structures to provide users with increased strength, support or the ability to perform lost functions. At one end of the spectrum are powered exoskeletons, which significantly increase a user’s strength, but require strong actuators, complex control systems, and heavy power sources. At the other end are orthoses, which are generally unpowered and lightweight devices that rely on their structure’s mechanical behaviour to enhance user’s support and stability. Ideally, assistive technologies should achieve both systems’ characteristics by enhancing human motion abilities while remaining lightweight and efficient. This can be achieved by using distinctive actuators to harness gait energy, towards enhancing human mobility and performance.
Pneumatic Artificial Muscles (PAMs), compliant and flexible, yet powerful and lightweight, present a unique set of characteristics compared to other mechanical actuators in human mobility applications. However, given the need of a compressor and power source, PAMs present a significant challenge, limiting their application. In contrast, PAMs can be implemented as unpowered actuators that act as non-linear elastic elements.
This thesis aims to develop a wearable lightweight unpowered ankle exoskeleton, which relies on the PAM to harness gait energy and compliment the human ankle biomechanical abilities at the push off movement, thusly assisting the user in propelling the body forward during walking. Presently, limited PAM models have been developed to analyse PAM passive behaviour and to assist in designing and selecting the appropriate PAM for unpowered application. Thus, this thesis aims to develop a passive model for the PAM.
To mechanically validate the proposed exoskeleton design, a prototype is fabricated, and tested within an Instron tensile machine setup. The unpowered exoskeleton has shown its ability to provide significant contribution to the ankle timed precisely to release at the push off phase of the gait cycle. Furthermore, the proposed PAM stiffness model is validated experimentally, and accounts for muscle pressure, geometry, material and stretching velocity. This enables the evaluation of the impact of various parameters on the muscle behaviour and designs the PAM accordingly for the unpowered ankle exoskeleton
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Shaheen, Robert. "Design and Material Characterization of a Hyperelastic Tubular Soft Composite." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36117.
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Research within the field of human motion assistive device development, with the purpose of reducing the metabolic cost of daily activities, is seeing the benefits of the exclusive use of passive actuators to store and release energy during the gait cycle. Designs of novel exoskeletons at the University of Ottawa implement the Pneumatic Artificial Muscle (PAM) as the primary method of nonlinear, passive actuation. The PAM is proven as a superior actuator for these devices when compared to the linear mechanical springs used by other researchers. There are, however, challenges regarding PAM pressure loss and the limitation of PAM elongation that have been identified.
This thesis aims to develop a hyperelastic tubular soft composite that replicates the distinctive mechanical behaviour of the PAM without the need for internal pressurization. The final soft composite solution was achieved by impregnating a prefabricated polyethylene terephthalate braided sleeve, held at a high initial fibre angle, with a silicone prepolymer. A comprehensive experimental evaluation was performed on numerous prototypes for a variety of customizable design parameters including: initial fibre angle, silicone stiffness, and braided sleeve style. Moreover, two separate analytical models were formulated based on incompressible finite elasticity theory using either a structural model of Holzapfel’s type, or a phenomenological model of Fung’s type. Both models were in good agreement with the experimental data that were collected through a modified extension-inflation test.
This research has successfully developed, tested, and validated an innovative soft composite that can achieve specific mechanical properties, such as contraction distance and nonlinear stiffness, for optimal use in human motion assistive devices.
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Moffat, Shannon Marija. "Biologically Inspired Legs and Novel Flow Control Valve Toward a New Approach for Accessible Wearable Robotics." Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-theses/1279.
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The Humanoid Walking Robot (HWR) is a research platform for the study of legged and wearable robots actuated with Hydro Muscles. The fluid operated HWR is representative of a class of biologically inspired, and in some aspects highly biomimetic robotic musculoskeletal appendages showing certain advantages in comparison to more conventional artificial limbs and braces for physical therapy/rehabilitation, assistance of daily living, and augmentation. The HWR closely mimics the human body structure and function, including the skeleton, ligaments, tendons, and muscles. The HWR can emulate close to human-like movements even when subjected to simplified control laws. One of the main drawbacks of this approach is the inaccessibility of an appropriate fluid flow management support system, in the form of affordable, lightweight, compact, and good quality valves suitable for robotics applications. To resolve this shortcoming, the Compact Robotic Flow Control Valve (CRFC Valve) is introduced and successfully proof-of-concept tested. The HWR added with the CRFC Valve has potential to be a highly energy efficient, lightweight, controllable, affordable, and customizable solution that can resolve single muscle action.
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Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.
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In recent years, soft materials have seen increased prevalence in the design of robotic systems and wearables capable of addressing the needs of individuals living with disabilities. In particular, pneumatic artificial muscles (PAMs) have readily been employed in place of electromagnetic actuators due to their ability to produce large forces and motions, while still remaining lightweight, compact, and flexible. Due to the inherent nonlinearity of PAMs however, additional external or embedded sensors must be utilized in order to effectively control the overall system. In the case of external sensors, the bulkiness of the overall system is increased, which places limits on the system’s design. Meanwhile, the traditional cylindrical form factor of PAMs limits their ability to remain compact and results in overly complex fabrication processes when embedded fibers and/or sensing elements are required to provide efficient actuation and control. In order to overcome these limitations, this thesis proposed the design of flat pneumatic artificial muscles (FPAMs) capable of being fabricated using a simple layered manufacturing process, in which water-soluble masks were utilized to create collapsed air chambers. Furthermore, hyperelastic deformation models were developed to approximate the mechanical performance of the FPAMs and were verified through experimental characterization. The feasibility of these design techniques to meet the requirements of human centered applications, including the suppression of hand tremors and catheter ablation procedures, was explored and the potential for these soft actuation systems to act as solutions in other real world applications was demonstrated. We expect the design, fabrication, and modeling techniques developed in this thesis to aid in the development of future wearable devices and motivate new methods for researchers to employ soft pneumatic systems as solutions in human-centered applications.
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Mikol, Collin Everett. "Design, Modeling, and Experimental Testing of a Variable Stiffness Structure for Shape Morphing." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1523454926569658.
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Lopes, Ivo da Paz. "Músculo de McKibben aplicado em manipulador não condutor." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-29122014-172555/.
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Quando as atividades de um sistema mecatrônico são realizadas em ambientes com intenso campo elétrico e ou magnético, os dispositivos que irão executar as tarefas devem ser cuidadosamente projetados para que a presença de peças metálicas não se torne um risco. O campo elétrico pode gerar descargas elétricas e o campo magnético, exercer forças não previstas sobre peças metálicas. Assim o uso de alguns elementos, como motores elétricos, peças metálicas ou sensores eletrônicos se torna inviável. A motivação inicial para esse trabalho foi encontrar um atuador que possa ser construído sem o uso de elementos metálicos e com ele, construir um manipulador inerte a campos magnéticos e elétricos. Neste contexto, a transmissão de energia para os atuadores por meios hidráulicos ou pneumáticos se torna a opção mais indicada. Frequentemente, sistemas pneumáticos e hidráulicos apresentam atuadores com componentes metálicos, devido a resistência mecânica destes componentes. Em situações na qual os requisitos quanto a esforços são menores, elementos metálicos podem ser substituídos por materiais poliméricos de uso comum na Engenharia. Entre os atuadores hidráulicos e pneumáticos, um que já apresenta poucas partes metálicas é o músculo pneumático artificial (MPA). O MPA possui características tais como: baixo peso relacionado ao esforço gerado, escala de esforços similar a um cilindro pneumático de mesmo tamanho e construção simples. Assim, o MPA foi escolhido como atuador para o manipulador não-condutor desenvolvido neste trabalho. Adotando o MPA como elemento central, este trabalho tem por objetivo identificar as diretrizes para a aplicação do MPA na construção de um manipulador inerte a campos elétricos e magnéticos. Para isso, primeiramente foi desenvolvido um MPA livre de qualquer parte metálica. Visando sua aplicação, as características do músculo como: gama de esforços, tempo de resposta e histerese foram avaliadas através de testes. Algumas estratégias de controle do atuador foram testadas e comparadas, e com o atuador desenvolvido foi construído um manipulador inerte a campos magnéticos e elétricos. O manipulador construído tem como objetivo exercer movimentos distintos sobre a mão de um paciente, o mesmo deve acompanhar o paciente durante um exame de ressonância magnética. O atuador apresentou uma gama de esforços dentro do previsto, um tempo de resposta característico de atuadores pneumáticos e ao contrário do esperado, uma baixa histerese. Através de elementos mecânicos e com o uso de dois MPA, o manipulador foi capaz de exercer um trabalho sobre a mão de um voluntario fora do campo da RM, mostrando a viabilidade da aplicação.When activities executed by a mechatronic system are performed in environments with strong magnetic and or electric field, the devices that will perform the tasks should be carefully designed so that the presence of metal parts does not become a risk. The electric field can generate electrical currents and the magnetic field may exert unexpected force in a metal part. Thus the use of some elements, such as electric motors, metallic parts or electronic sensors becomes unviable. The initial motivation for this work was to find an actuator that could be built without metallic elements and, using such actuator, build a manipulator inert to magnetic and electric fields. In this context, the use of hydraulic or pneumatic actuators becomes the most indicated option. Frequently, pneumatic and hydraulic systems have actuators with metal parts so as resist mechanical loads. In situations where the actuator is loaded by small loads, metal parts may be replaced by polymeric materials commonly used in Engineering. Among hydraulic and pneumatic actuators, one that already presents a few metal parts is the pneumatic artificial muscle (PAM). PAM has characteristics such as: low weight to effort ratio, simple construction as well as range of generated force and dimensions similar to a pneumatic cylinder. Thus, the PAM is chosen as the actuator for the non-conductive manipulator developed in this work. Adopting the PAM as a central element, this work aims identifying directives on using the PAM in the construction of a manipulator inert to electric and magnetic fields. For this, firstly it is developed a PAM free from any metal part. Next, the characteristics of the PAM such as range of efforts, response time and hysteresis curve are assessed through tests. Some strategies for the actuator control are tested and compared. Finally, using the developed actuator, a manipulator inert to magnetic and electric fields are constructed. The purpose of this manipulator is to induce motions to the fingers of a patient hand while the patient is examined in a MRI (magnetic resonance imaging) equipment. The actuator presented a range of efforts according to expectations, a response time compatible with pneumatic actuators and, contrary to expectations, low hysteresis.
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Lu, Nien-Wei, and 呂念緯. "Physics-based Modeling of Pneumatic Muscle Actuators." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/fehekh.
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碩士國立臺灣科技大學
機械工程系
106
In Taiwan as the fertility rate is declining year by year and the average life is risen, the problem of Taiwan’s ageing society is getting more and more serious, and the proportion of young people who are raising elderly people on average is also rising. Therefore, it is expected that the Pneumatic Muscle Actuator (PMA) can be applied to prosthetic aids to help the elderly or the disabled to improve their ability to live their own lives. PMA are lightweight,high-security actuators whose flexibility makes the contact between the human body and the machinery safer.The use of PMA in assistive devices has potential for development over motors and hydraulic actuators.However,PMA is a highly nonlinear actuator. In order to make PMA have more accurate control, this paper completes the nonlinear dynamic physical model of PMA. Modeling mainly focuses on the performance of PMA,It includes the relationship between force and pressure combine with the elasticity of PMA, the relationship between pressure and mass flow rate, and the relationship between mass flow rate and input voltage.The dynamic model in this paper is single-input-single-output(from the valve command voltage to motion) third-order model system.The three system states are the pressure, displacement, and speed.This paper use the least square method to find out the parameters in the model by using the experimental data.Finally, the accuracy of the model was verified through static experiments and dynamic experiments.The model of the internal difference method has a minimum steady-state error of 11 %under the operating conditions of a trapezoidal wave experimental input pressure of 5 bar and a load of 4.557 kg .The polynomial mathematical model has a minimum steady-state error of 16.8 % under the same conditions.In the future,we will develop the control strategies based on this model.
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Ou, Pei-Yi, and 歐佩宜. "Model-based Design and Fabrication of Pneumatic Muscle Actuators." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/a4ej3s.
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碩士國立臺灣科技大學
機械工程系
106
Pneumatic muscle is a type actuator with high safety as its pliability allows greater, proximity between the humans and the robots. In recent years, the elderly population grows rapidly whereas the birth rate reduces, resulting in an increasing dependency ratio. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. Unfortunately, there is no company in Taiwan producing the pneumatic muscle actuators and the imports are not only expensive but also impossible to be customized. The objective of this research is thus to develop a pneumatic muscle actuators of low cost, high power-to-volume ratio and high durability. A physics-based model is adopted for performance analysis and design of the pneumatic muscle actuators. The pneumatic muscle developed in this research includes three major parts: the inner layer elastic tube, the outer layer fiber mesh and the connectors at the two ends. The sizing and material selection of the inner and outer layers are determined based on the experimental results and the physics-based model at various pressure conditions. The parameters related to the elasticity of the pneumatic muscle in the physical model are identified based on the least square method and the overall model is validated against the force measurement at various pressures. From the test results, the developed pneumatic muscle can sustain up to 170 Nt loading under 5 bar working pressure. Durability test results show that, under the test condition of 3 bar working pressure and sinusoidal external load of 100 Nt in amplitude and 0.2 Hz in frequency, the self-made pneumatic muscle maintains its performance after 10,000 test cycles. Specifically, the contraction ratio raises less than 1.59% whereas the elastic force drops less than 16.67%. In the future, the pneumatic muscle can be applied to assistive technologies and control algorithms can be developed based on the physics-based model developed in this work.
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YANG, CHENG-YUAN, and 楊鎮遠. "A Study of the Innovative Pneumatic Servo Mechanism and the Bionic Pneumatic Muscle System for Upper Arm Rehabilitaion." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/26zv82.
Full textAbstract:
碩士逢甲大學
機械與電腦輔助工程學系
106
The purpose of this study is to design a long-stroke asymmetric pneumatic servo system of the body. Firstly, the platform of long stroke asymmetric pneumatic servo system was designed by Solidworks, and the effect of gravitational direction on the real-time trajectory control is considered for the mathematical model of asymmetric pneumatic system. Then use the Numerical analysis software Matlab for the establishment of asymmetric pneumatic system, and the asymmetric pneumatic control system design. In the controller design, adaptive sliding mode control based on function approximation is combined with control of H-inf tracking performance compensation to overcome nonlinear problems such as uncertain time-varying of pneumatic system and so on, and the asymmetric pneumatic system is closed. Loop control simulation, improve system positioning accuracy and long trajectory tracking ability. In recent years, modern accidents have occurred continuously, and the quality of rehabilitation personnel is uneven and manpower is insufficient. Therefore, a wearable rehabilitation mechanical arm is designed to assist patients in rehabilitation. Using PTC Creo Paramatric 2.0 to design the structure of the rehabilitation arm, and using ANSYS for stress analysis to see if the design is usable. Finally, using Adams' motion simulation of the rehabilitation arm, observe whether the arm has improper movement when the muscle cylinders operate.
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Chen, Fu-Wen, and 陳福文. "A control loading system based on a pneumatic artificial muscle." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/93306398984821191327.
Full textAbstract:
碩士國立臺灣師範大學
機電工程學系
103
In this paper the application of a pneumatic artificial muscle to the control loading system is investigated, and the controller designs are compared. Trajectory tracking control in this paper is first studied based on the sliding mode controller, the fuzzy sliding mode controller and the adaptive fuzzy sliding mode controller for the pneumatic artificial muscle. The pneumatic artificial muscle testbed is made with a steel string fixed at one end, and the other end connected to a spring-mass system, such that these three controllers are in comparison on the trajectory tracking for the pneumatic artificial muscle testbed. Afterwards, the designed controllers are applied to a control loading system, in which the computed force is calculated using a second-order mass-spring-damper model, and the force control is implemented via the respective position-loop, velocity-loop and force-loop algorithm. The results show that the robustness of the adaptive fuzzy sliding mode controller is better than the sliding mode controller and the fuzzy sliding mode controller. In addition, the force-loop algorithm is better than the position-loop algorithm and the velocity-loop algorithm on the control loading system design.
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Hsieh, Yi-Hsueh, and 謝佾學. "Design and Fabrication of Pneumatic Muscle Lower Back Support Wear." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/9t68y5.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
107
Pneumatic muscle is an actuator with fast response, easy to adjustment, and high safety as its pliability makes the contact between the human body and the machine safer. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. The purpose of this research is to develop a back support wear that use pneumatic muscles as actuators to reduce the amount of power users need to carry heavy loads. However, there are no manufacturers producing pneumatic muscles in Taiwan currently. If there is demand, it can only rely on foreign imports, but the design of foreign manufacturers may not be fully compatible with the requirements of wearing accessories, and the cost is relatively high. This thesis completes the steps of how to make a pneumatic muscle and combine it with a back support wear. In the experiment, the assembly position of the pneumatic muscles on the auxiliary clothing was divided into three assembly positions for testing(Type 1、Type 2、Type 3), and the difference between these was the distance between the pneumatic muscles and the fixed point below. According to the experimental results, the relationship between the strength F, the contraction amount hand the angle of inclination of the dummy of the three assembled pneumatic muscles are compared. It is found that the different methods of assembly of the pneumatic muscle have little effect on the benefit provided by the auxiliary service. Therefore, in the future design of actual human body, the installation position of the pneumatic muscle is less restricted. The experimental results show that at a barometric pressure of 5 bar, the maximum torque that the accessory can provide is the torque from 3.5 kg dummy and 14 kg load. A membrane pressure sensor was also used to measure the surface pressure during torque balance, with a single point maximum pressure of 250 kPa. In the future, the control law will be developed based on this auxiliary, so that it can smoothly pull the human body from the horizontal to the straight state and apply it to the related technologies of prosthetic aids.
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WANG, Kai-Yuan, and 王楷元. "Studies of a Spherical Parallel Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/48225825226657010994.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
94
The position control of tendon driven, two degree-of-freedom spherical parallel robot actuated by pneumatic muscle actuators is studied, including the kinematic model and tracking plan method. It is difficult to achieve high control accuracy using classical control method because the compressibility of gas and the nonlinear elasticity of bladder container caused parameter variation. In this research, four different intelligent control strategies : (1)conventional fuzzy controller (2) fuzzy sliding mode controller (3) self-organizing fuzzy sliding mode controller (4) adaptive self-organizing fuzzy sliding mode controller were employed in the robotic position control. The sliding surface is reduced fuzzy rules. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the model reference adaptive control can be also to adjust on-line scaling factor. The experimental results show that adaptive self-organizing fuzzy sliding mode controller can attain excellent control performance .
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Gung-Lin, Jin, and 金冠霖. "System Identification of a Pneumatic Artificial Muscle Using an Embedded System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/52a3nj.
Full textAbstract:
碩士國立臺灣師範大學
機電科技學系
101
Pneumatic artificial muscle is a highly nonlinear system because of the internal friction effects, so the LuGre friction model is developed for the friction model of the pneumatic artificial muscle in this paper, and the Particle Swarm Optimization Algorithm (PSO) is used to solve the unknown parameters of the friction model for the system identification of the pneumatic artificial muscle. In addition, the Programmable System on Chip (PSoC) is used for the data acquisition of the pneumatic artificial muscle system. The data about the displacement and the pressure of pneumatic artificial muscle are measured for the development of the hysteresis loop in the pneumatic artificial muscle.
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Hsu, Yang-De, and 徐仰德. "Design and Control of a Humanoid Robot Arm with Pneumatic Muscle." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/8e9eub.
Full textAbstract:
碩士龍華科技大學
機械工程系碩士班
105
This study developed a flexible 6 DOF humanoid robot arm driven by pneumatic muscle. Three joints of the shoulder, elbow, and wrist were constructed according to the human body structure for parts of mechanism design. Each joint was composed of a pair of pneumatic muscles. The joint can generate rotation through the length and contraction force changes produced by inflation shrinkage and exhaust extension. The joint angle change can be measured on the incremental encoder. For the control system, the pneumatic muscle has highly nonlinear and time-varying characteristics, thus making the design of a controller for the precise mathematical model of the dynamic system. Therefore, this study adopted the finite term Fourier series to model the system dynamic mathematical model, and combined the adaptive control, sliding mode control, and tracking design technology for the controller design. Using the decentralized control mode, this study designed an adaptive sliding mode controller for each joint. The torque change of each joint was regarded as external disturbance. The proposed controller combined the Fourier series and the dynamic mathematical model of the adaptive control approximation system, thus removing the limit that the sliding mode controller design needed the system mathematical model. added approximate errors and external interferences were also considered in the tracking design compensation system, in order to reduce the non-continuous jumps of the sliding mode controller. The Lyapunov stability criteria were used to derive the parameters updating law of the controller, thus ensuring the stability of the system in the control process. LabVIEW was used, with the embedded system as the core, to realize tracking and positioning control of each joint of the arms. In addition to developing a pneumatic muscle actuator - 6 DOF humanoid robot arm, the designs of the adaptive sliding mode controller were implemented on the arm. The experimental results showed that with the pneumatic muscle humanoid robot arm compensated by the adaptive sliding mode controller, positioning and trajectory tracking were well controlled.
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SHIH, WEN-HSIANG, and 施文祥. "Gait Control of a Biped Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/30317290143458996823.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
96
In this study, we design and manufacture a biped robot actuated by pneumatic muscle actuators. This biped robot has 6 degrees of freedom, including 2 hip joints, 2 knee joints and 2 ankle joints. Therefore, we have implemented conpletely a human – like robot. We use adaptive self-organizing fuzzy sliding mode control (ASOFSMC) to implement gait tracking control. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the fuzzy sliding surface can reduce fuzzy sets. And then the adaptive law is used to adjust scaling factor. The experimental results show that the ASOFSMC can attain excellently tracking control performance.
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Zhang, Yi-Jiang, and 張藝鏹. "Adaptive Sliding-Mode Control for Pneumatic Muscle Active Vehicle Suspension Systems." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/11283863608388933797.
Full textAbstract:
碩士龍華科技大學
工程技術研究所
101
This thesis developed a pneumatic-muscle active vehicle suspension system, and designed the controller to provide the better riding comfort and driving controllability. Due to the high nonlinearity and time-variant characteristics of the pneumatic-muscle active vehicle suspension system, it is difficult to establish an accurate dynamic mathematical model of the system to conduct the controller design. This thesis thus used the mathematical model of Haar wavelet series approximation system, along with the adaptive control, sliding mode control and tracking technology, to design an adaptive sliding mode controller of the pneumatic-muscle active vehicle suspension system. The unknown functions in the dynamic mathematical model of system were approximated in combination with the Haar wavelet series and adaptive control to eliminate the limitation of needing the mathematical model of system to design the sliding mode controller. Moreover, the tracking technology was incorporated to compensate for the finite series approximation error and external interference of system and mitigate the discontinuous jump-cut phenomena of sliding mode controller, thus improving the control effect and reducing the difficulty in realizing the actual control system. In addition, the Lyapunov stability criterion was used to obtain the controller parameter updating law to ensure the stability of the controlled process of system. In addition to developing a pneumatic-muscle active suspension system of 1/4 vehicle, this thesis also designed an adaptive sliding mode controller on the system. The experimental results indicated that under the compensation of the adaptive sliding mode controller, the pneumatic-muscle active vehicle suspension system has good vibration damping and suppressing effect on various bumpy road surfaces.
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Huang, Wei-Chin, and 黃威誌. "Self-Organizing Fuzzy Control Applied in a 2D Pneumatic Muscle Actuators’ Arm." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/ve3zd2.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
94
Abstract This thesis is to develop a 2D pneumatic arm control system, which is setup by two muscle actuators and kinematic linkages. Using the self-organizing fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually. Then, both self-organizing fuzzy controller and sliding mode fuzzy controller are applied for various experiments of this 2D pneumatic arm control system. From process, experimental results, we can study this transient and steady state behaviors, and then justify their control accuracy and adaptation of self-organizing fuzzy controller and sliding mode fuzzy controller.
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KUAN, LEE PO, and 李柏寬. "Intelligent Controller Apply in Leg Rehabilitation Robot Actuated by Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/11575791263008039451.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
96
Rehabilitation devices provide joint loading to help patients recover extremity functions in cases of traumatic brain injury, amputation, bone injury, or spinal cord injury caused by misfortunes such as traffic accidents and cerebral apoplexy that affect extremity activity. Rehabilitation robots are usually driven by electric motors, and electric motors are typically rigid in nature. Because of this, actuators can generate uncomfortable or painful conditions when interfacing with humans. Ideally, rehabilitation robots should provide high levels of safety and flexibility for humans. Reason suggests that the pneumatic muscle actuator (PMA) can potentially contribute to more comfortable devices when interfacing with human limb segments. Pneumatic muscle actuators have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as actuators in robots, including industrial robots and therapy robots. It is difficult to achieve excellent control performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder containers causes parameter variations. An adaptive fuzzy sliding mode controller (AFSMC) is developed in this study. Its fuzzy sliding surface can be used to reduce the number of fuzzy rule. A adaptive law is employed to modify on-line fuzzy rules. and to adjust scaling factors. Finally, Lyapunov theorem is employed to prove the stability of the AFSMC. Experimental results show that this control strategy can achieve excellent control performance.
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Lin, Guan-You, and 林冠佑. "Development of Tracking Control of a Single-Axis Robot Arm with Pneumatic Muscle Actuators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/15345670869451526514.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
96
The paper aims to develop a novel pneumatic robot system driven by Pneumatic Muscle Actuators (PMA). In order to analyze the characteristics of the PMA, non-linear modeling, dynamic simulation and experiments of path tracking control and path-positioning control are implemented for the single PMA firstly. Then, the dual-PMA robot arm is also implemented for the rotational angle control in simulation and experiment where the rotational axis is driven by two PMAs, i.e. one is in extension and the other is in contraction. To realize the rotational angle control, Fourier series-based adaptive sliding mode controller with tracking performance is used to control the PMAs through the pressure control servo valves. For ensuring the smooth motion, the path-position control is realized to keep both the transient and steady state response. The simulation and experiment of the path-positioning control, including the single-axis pneumatic muscle actuator and the dual-PMA robot arm are performed and show that the system can achieve high positioning accuracy and excellent tracking performance.
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Lin, Chung-Wei, and 林忠緯. "A Study of Bipedal Robot Actuated by Pneumatic Muscle Actuators Using Gait Learning Control." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/08573543005245313424.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
98
In this study ,we design a bipedal robot actuated by pneumatic muscle actuators, which has 8 degrees of freedom, including 2 hip joints, 2 knee joints and 4 ankle joints . Therefore, we have implemented completely a human – like robot. A pictures of the human walk are captured by CCD and two legs walking trajectory are simulated by MATLAB package.The fuzzy sliding mode control (FSMC) is applied in the bipedal robot. Experimental results show that the bipedal robot is successed for static walking motion using image processing as a input command.
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"Highly extensible skin for a variable wing-span morphing aircraft utilizing pneumatic artificial muscle actuation." UNIVERSITY OF MARYLAND, COLLEGE PARK, 2009. http://pqdtopen.proquest.com/#viewpdf?dispub=1465541.
Full text
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Chen, Wei-Gang, and 陳偉綱. "Design of a Grey-Prediction Adaptive Sliding-Mode Controller for Pneumatic Muscle Active Suspension System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/39486314424681001433.
Full textAbstract:
碩士龍華科技大學
機械工程系碩士班
104
This thesis aims at the controller design for the pneumatic muscle activate vehicle suspension system in order to provide better riding comfort and driving controllability. Since the pneumatic muscle activate vehicle suspension system is highly nonlinear and time-dependent, it is difficult to build an accurate mathematical model for the system dynamics of the controller design. Therefore, this thesis combines a finite Fourier series approximation system dynamic mathematical model with adaptive control, sliding mode control, and the H_∞ tracking technique to design an adaptive sliding mode controller for a pneumatic muscle activate vehicle suspension system. The controller consists of Fourier series and an adaptive control approximation system dynamic mathematical model, where the sliding mode controller design requires the constraints of the system’s mathematics model. In addition, the H_∞ tracking technique is applied to compensate the approximation error and system external interference, in order to mitigate the discontinuous jump cut caused by the sliding mode controller, and the updated rules of the controller parameters are deduced from the Lyapunov stability criteria, thus, guaranteeing the stability of the controlled process of the system, improving the control effect, and reducing the difficulty level of actual control. Furthermore, in order to enhance the vibration suppression and vibration reduction of the system, this thesis uses the grey forecast algorithm to predict the next system error as the controller input. The experiments prove that the proposed controller with the grey forecast algorithm performs better vibration suppression and vibration reduction effects on various pavements.
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Chen, Ming-Lun, and 陳明綸. "T-S Fuzzy Controller Applied to Lower Extremity Rehabilitation Machine Actuated by Pneumatic Muscle Actuates." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/19143456131687822096.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
97
This paper presents the two degrees of freedom rehabilitation robot actuated by pneumatic muscle actuators. It is difficult to achieve excellent control performance using classical control method because the compressibility of gas and the nonlinear elasticity of bladder contains causes parameter variations. Therefore, the T-S fuzzy controller is applied to the rehabilitation robot to improve control performance. The T-S fuzzy controller which combines the merits of (i) the capability for dealing with nonlinear systems; (ii) the powerful LMI approach to obtain control gains;(iii) the high performance of integral controllers; (iv) the workable rigorous proof for exponential convergence of error signals. Experimental results verified that the T-S fuzzy controller can achieve excellent tracking performance.
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Lin, Yi-Jie, and 林宜頡. "Design and Control of Active Vehicle Suspension System with the Structure of Pneumatic Muscle Actuator." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/25049030765439679362.
Full textAbstract:
碩士輔仁大學
電機工程學系碩士班
104
This thesis firstly proposed a pneumatic road actuation system based on fuzzy logic control technique for the developed suspension test bench. The road actuation system can provide the simulated road profile for the analysis in the vehicle suspension control system. Further, the neural network (NN) is applied to learn the control parameters of fuzzy logic controller in different road surface conditions. Due to high nonlinearity and uncertainty of the utilized pneumatic actuation system in the developed road surface simulator, the genetic algorithm (GA) optimization is adopted to assist NN to gain the optimized control parameters for the fuzzy controller. In the second part of thesis, LQR-based optimal controller is designed for the pneumatic-muscle active vehicle suspension system against the road disturbance. Besides, the road profile is employed into the feedforward compensation with the vehicle body control loop so that the suspension control performance can be enhanced. Finally, the experimental results under different road conditions are given to verify the superior performance of the active suspension controller using pneumatic muscle actuators.
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Chen, Yi-Min, and 陳以民. "Angle Tracking Control of a Single Joint Driven by Pneumatic Muscle Actuators Using Intelligent Controller." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/65533119681716750064.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
102
In cases of traumatic brain injury , bone injury, amputation, or spinal injury caused by misfortunes such as traffic accidents and cerebral apoplexy, rehabilitation machine can help patients recover extremity functions by means of continuous passive motion(CPM). Traditionally, rehabilitation machine are usually driven by electric motors, which are typically rigid in nature. Because of this, actuators can generate discomfort or pain when interfacing with humans. Pneumatic muscles actuators (PMAs) have high reliability, and compliance for use with humans. For these reasons, PMAs are commonly employed in rehabilitation engineering, nursing and human-friendly therapeutic machine. It is difficult to achieve excellent tracking performance for a single joint driven by PMAs because the system has a highly nonlinear and tine-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. In the paper, a novel adaptive fuzzy sliding mode control (AFSMC) with functional approximation (FA) technique is proposed for controlling the single joint driven by PMAs. From experimental results verify that the proposed approach can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.
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Yuan, Tsan-Hsiu, and 袁贊修. "Tracking Control of a Three Degrees of Freedom Mechanical Arm Actuated by Pneumatic Muscle Actuators." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/48669028079872239144.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
95
In this study, the three degrees of freedom mechanical arm actuated by six pneumatic muscle actuators is used as a rehabilitation robot. It is difficult to achieve high control accuracy using classical control method, because the compressibility of gas and the nonlinear elasticity of bladder container caused parameter variation. We use two intelligent controllers to implement angle control and end-effector tracking control. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the fuzzy sliding surface can reduce fuzzy sets. And then the adaptive law is used to adjust scaling factor. The experimental results show that adaptive self-organizing fuzzy sliding mode controller can attain excellently tracking control performance .
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Chang, Che-Wei, and 張哲瑋. "Design and Control of a Dual-axial Parallel Robotic Arm Driven by Pneumatic Muscle Actuators." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/19361357018039516326.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
100
This study aims to investigate the pneumatic muscle actuators (PMA) applied in the pneumatic servo system. In order to figure out the characteristics of PMA, we first design a single-axial PMA system with two PMAs for path-tracking control. Finally, a dual-axial PMAs parallel robotic arm is developed for rotational angle control and end-point path-position control. The rotation of joint is driven by dual PMAs, which means one is in extension another is in contraction. By controlling these two angles, we can control the terminal point position of the robot arm. In order to control these systems, Fourier series-based adaptive sliding mode controller is used to control the PMAs through the pressure servo valves. For ensuring the smooth motion, the path-position control is chosen to give consideration to transient and steady state response. The simulation and experiment for path-tracking control of single-axial PMAs system and the dual-axial PMAs robotic arm are executed and show that the system can have good tracking performance.
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Wu, Jui-Chi, and 吳瑞啟. "The Hybrid Control for a Two Degree of Freedom Arm Actuated by Four Pneumatic Muscle Actuators." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/12941128464726675724.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
94
Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, it is widely applied to industrial automation or rehabilitation engineering. Due to compressibility of air and the nonlinear elasticity of bladder container caused parameter variation, it can not attain excellent control performance. In this study, the two degree of freedom arm actuated by four pneumatic muscle actuators is used as a rehabilitation robot. We use four intelligent controllers to implement synchronous control of angle and end-effector’s tracking control. From experimental results show that the adaptive fuzzy sliding-mode controller(AFSMC) and the adaptive fuzzy sliding-mode with adaptive scaling factor(AFSMC-ASF) can achieve excellent control performance.
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Hsu, Wei-Chan, and 徐維謙. "Design and Control of a 2-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuators." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/36748708216125412697.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
102
During the second half of the 20th century, assistive robotics and exoskeletons appeared as a new type of robots that can either provide assistive support for patients with impaired limbs or augment the strength of human beings. Although electromagnetic motors may be the most widely used actuators in the robotic area, pneumatic actuators have their own advantages, such as lightness, cleanness and easy maintenance. Of all the pneumatic actuators, pneumatic artificial muscles (PAMs) may be the most promising one for the design of assistive or rehabilitation robots because of their inherent compliance and high power to weight ratio, despite their high nonlinearity. This thesis aims to design and control a 2-DOF forearm robotic system actuated by two pairs of PAMs, following the research of [1], as a step toward our future objective of the development of an upper-limb rehabilitation robot. For the purpose of the study, basic biomechanics of the human body is briefly discussed, and then the design as well as the test rig of the robotic system is demonstrated. To understand the properties of the system, the kinematic and dynamic models of the mechanism are derived, followed by the mathematical modeling of the pneumatic components used in the system. These modeling approaches lend themselves to the controller design, in that the pressures of the PAMs that are required to produce a desired force under a certain contraction ratio can be easily calculated, such that a model-based controller can be designed. For the controller design, a torque controller with a model-based feedforward controller and a feedback PID controller is first developed, and then a sliding mode controller is combined with the torque controller to form a joint angle controller. With the help of a velocity observer, a decent velocity signal can be employed for the control of the system. In addition, the estimated disturbance by the disturbance observer is used as a cancellation signal for better angle tracking performance. Simulations are carried out on the elbow joint to test the model and the controller, and experiments are conducted to verify the efficacy of the design and control of the system. The results show that the smooth angle tracking performance can be achieved.
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Chiang, Yu-liang, and 江友良. "Development of a Pneumatic-Fluidic Muscle Hybrid Servo Positioning System with Large Stroke and Micrometer Accuracy." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/03723776135021120146.
Full textAbstract:
碩士國立臺灣科技大學
自動化及控制研究所
96
This thesis aims to develop an intelligent hybrid pneumatic-muscle fluidic single axis platform with large stroke and mircometer precision. In the axis the pneumatic servo system serves to position in coarse stroke and the fluidic muscle actuator (FMA) compensates fine stroke. This single-axis system is constituted with a rodless cylinder and a fluidic muscle actuator combined. The thesis focuses on the study of the positioning control of axis and the characteristics of variant size of fluidic muscles. The fuzzy sliding mode controller (FSMC) is used to develop the controllers of pneumatic rodless cylinder and fluid muscle actuator. The experimental results show that the system can achieve positioning response and accuracy deviation of 10 μm for single axis with high response for maximum stroke of 200mm.
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Liang, Jui-Lin, and 梁瑞霖. "Design and Control of a 1-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuator." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/91905359477779699057.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
101
Pneumatic artificial muscles (PAM) inherit all the advantages provide by the conventional pneumatic actuators. Due to the structure and the material of PAMs, they possess a special property of compliance. Thus, they are suitable for the devices that have directly interaction with human such as exoskeletons and rehabilitation equipment. However, the compressibility of air and other nonlinearities result in the difficulty to describe pneumatic system accurately with mathematical model and control them. This thesis focuses on the application of PAMs on the pneumatic servo control systems, including two different designs of PAM systems. One is a single-axial dual-PAM system, and the other is a 1-DOF forearm robotic system driven by a PAM-pair. The single-axial dual-PAM system is controlled by a modified model-free self-tuning PID controller based on neural network, while the 1-DOF forearm robotic system adopts a model-based cascaded controller to control the torque and the rotational angle of the system, which also will become the basis of the related future research in our laboratory. This thesis firstly models the mechanism and the pneumatic components of the 1-DOF robotic system. The modeling approach adopted is proposed by M. Eichhorn , C. Ament, and T. T. Nguyen. To identify the parameter values of the model, a test bed is constructed to measure the relationship among the pressure, the contraction ratio, and the force of the PAMs, and an optimization approach is used to estimate the values of the parameters. Due to the structure of the model, it is easy to calculate the pressure needed to produce a certain desired force under different contraction ratio. With the help of the model, we design a feedforward torque controller. Also, a feedback PID controller is added to compensate the modeling error. Based on the torque controller, impedance control is achieved to compensate the gravity, making the system equivalent to a pure inertia system. Moreover, the combination of feedback linearization and LQR control is integrated with the torque control to control the rotational angle of the forearm robotic system. An LTR observer is designed to estimate the angular velocity and overcome the insufficient resolution of the encoder used in the system. With the overall control system, angle tracking control is successfully achieved. The future research can be made for rehabilitation devices. Under this condition, smoothness is more important than accurate control performance. Thus, the objective to control the forearm robotic system is to track the desired path smoothly while maintaining the error in an acceptable range.
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Wu, Kuo-Shien, and 吳國賢. "Adaptive Sliding Controller with Self-tuning PD Compensation for Pneumatic Muscle Active Vehicle Suspension System Control." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/99f9b3.
Full textAbstract:
碩士龍華科技大學
電機工程系碩士班
107
The objective of this thesis was to design an adaptive sliding mode controller for use in active suspension systems with pneumatic muscle actuator (PMA) and to then conduct relevant research experiments. The PMA system is a highly nonlinear and time-variant system because of the various properties of air, such as its compressibility, low viscosity, low natural frequency, the hysteresis of proportional valve coils, zero drift, and the dead band in valve movements. Therefore, establishing a precise mathematic model based on the dynamic characteristics of the PMA system for the design of a sliding mode controller is extremely difficult. In response to this difficulty, the present study proposed an adaptive sliding mode controller with a self-turning proportional–derivative (PD) compensator to eliminate the need for an accurate dynamic model of the sliding mode controller and to reduce the difficulty of fabricating a control system. The controller has two parts, the adaptive sliding mode controller and self-turning PD compensator. A Fourier series and the adaptive control are applied to the adaptive sliding mode controller to estimate the unknown nonlinear dynamics for eliminating the need for an accurate dynamic model of the sliding mode controller. In addition, the PD compensator with real-time self-turning functionality is employed to compensate for approximation errors, uncertainties, and disturbances and thus mitigate the effects of approximated errors and unmodeled dynamics on the controller. Moreover, in the controller design, dynamic models and the trial and error method are not required to adjust the control parameters and select approximating functions. This design also resolves the problem of the discontinuous chattering of the sliding mode controller. The entire control system gradually reaches Lyapunov stability, and the tracking error of the system converges to the neighborhood of zero. The adaptive sliding mode controller with self-turning PD compensator was fabricated and applied to a quarter-car active suspension system with PMA that was constructed in the laboratory. The experiment results revealed that the controller was capable of managing dynamic changes on the road and was effective in reducing and suppressing shocks on various bumpy roads.
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Chase, Jérémie Eric. "The Impact of a Single Intermittent Pneumatic Compression Bout on Performance, Inflammatory Markers, and Myoglobin in Football Athletes." 2017. http://hdl.handle.net/1993/32045.
Full textAbstract:
Intermittent Pneumatic Compression (IPC) use as a tool for recovery after exercise has recently become widespread among athletes. While there is strong anecdotal support for IPC, little research has been done to show its effectiveness in recovery. Eight collegiate football athletes were recruited and subjected to IPC or control conditions in a randomized crossover manner during off-season training. Countermovement jump (CMJ) and 10m sprint were evaluated before training, at 3 and 24 hours following training. Self-reported soreness, blood markers of inflammation [interleukin-6, interleukin-10, and monocyte chemoattractant protein-1 (MCP-1)] and muscle damage (myoglobin) were measured before training, post-training, post-recovery and at 3 and 24 hours post-training. Significant time effects were observed in MCP-1 and myoglobin (p < 0.05) indicating an inflammatory response and muscle damage. No group differences (p > 0.05) were observed between recovery interventions for all measures, suggesting that the IPC protocol used was not effective in this population.February 2017
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Chan, Che-Wei, and 詹哲瑋. "Development of a 2-DOF Lower Limb Robotic System Driven by Dual Pneumatic Artificial Muscle Actuators with Proportional Valves." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/54022427873301194354.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
104
Rehabilitation robots and exoskeletons have increasingly become popular in the field of robotics, since they can not only provide a support for patients with impaired limbs or the elders with difficulty of doing activities for daily living by their own, but also augment the power of able-bodied people. Of all the actuators, pneumatic artificial muscles (PAMs) may be the most promising one due to their inherent compliance, which guarantees safe interactions between the operator and the device. In addition, high power to weight ratio and lightness are also ideal features for the applications of human-friendly devices. However, the nonlinearity is the drawback that is required to mitigate for accurate control. The purpose of this study is to develop a dual-PAMs driving 2-DOF robotic system, following with the research of [1] for our future objective of the lower limb rehabilitation robot. The system structure is similar to a human lower limb. The test rig of the dual-PAMs driving 2-DOF robotic system is composed of upper leg, lower leg, and each leg is equipped with a proportional-valve controlled dual-PAMs to reduce the system weight. Since the PAMs is a highly non-linear actuator, it is hard to control the system and derive mathematical model precisely. Therefore, the system is controlled by the modified model-free self-tuning PID controller based on neural network to compensate the nonlinearity and improve the tracking performance. For the 2-DOF motion of lower limb, kinematics and inverse kinematics are derived. Finally, the experimental results indicate that 2-DOF tracking motion control of lower limb of the dual-PAMs driving 2-DOF robotic system can be achieved by the self-tuning PID controller with acceptable control error.
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LYU, YU-FONG, and 呂宇峯. "Design and Realization of an Enhanced Interval Type-2 Fuzzy Sliding Controller for Pneumatic Muscle Active Vehicle Suspension System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/9a2utj.
Full textAbstract:
碩士龍華科技大學
機械工程系碩士班
106
This thesis designed an intelligent controller for quarter-car pneumatic muscle active vehicle suspension systems and conducted an experimental study for the proposed controller. Pneumatic muscle servo systems are time-varying systems with high nonlinearity because of numerous factors such as the air compressibility, low viscous damping force, low natural frequency, the friction forces in the system, the valves’ nonlinear characteristics subjected to loading, the hysteresis of proportional solenoids, zero drift, and dead-zone effect during spool movement. As a result, the associated precise mathematical models is difficult for designing controllers through the model-based control theory. To overcome the limitation involving the need for mathematical models when designing controllers and reduce the difficulty in developing actual control systems, this thesis developed an interval type-2 fuzzy sliding mode controller by integrating interval type-2 fuzzy logic and sliding mode control. However, bouncing tires during tire rotations induce dynamic effects such as tire deformation and unintended vehicle acceleration that obstructs the effectiveness of the integrated interval type-2 fuzzy and sliding mode control. That is, compared with passive control strategies, the proposed control method could not simultaneously elevate riding comfort and vehicle handling. To enhance riding comfort, this thesis incorporated an acceleration feedback interval type-2 fuzzy sliding mode controller into the sprung mass displacement feedback interval type-2 fuzzy sliding mode control framework and then performed an experimental study on the pneumatic muscle active vehicle suspension system. The experiment results showed that for different road surfaces and vehicle speeds, the proposed double-loop interval type-2 fuzzy sliding mode controller in the pneumatic muscle active vehicle suspension system yielded a superior riding comfort compared to passive suspension and active interval type-2 fuzzy sliding control without acceleration compensation.
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Chen, Ying-Chen, and 陳映辰. "Fast Tracking Control of a Dual Pneumatic Muscle Actuated Manipulator based on Neural Network Learning and Fuzzy Sliding Mode Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8b37ft.
Full textAbstract:
博士國立臺灣科技大學
機械工程系
106
The pneumatic muscle actuator (PMA) is one of the most promising actuators especially for the applications that require greater proximity between the humans and the robots. The advantages of PMA include high power-to-weight and power-to-volume ratios, cleanness, ease of maintenance, pliability, inherent safety, low cost and ready availability. Fast and precise control of PMA, however, is difficult to achieve due to the compressibility of the air and the elasticity of the PMA. In order to achieve accurate and consistent tracking performance of a dual PMA actuated manipulator over a considerably wide range of frequency, an intelligent adaptive control algorithm is first developed in this thesis. The adaptive learning is enabled by a neural network in which the control gains to a fuzzy sliding mode controller (FSMC) and an integrator are adjusted to minimize the tracking error. Experimental results show that the proposed control strategy achieves fast, accurate and consistent performance tracking sinusoidal reference trajectories up to 1~Hz in frequency with the compressed air regulated to 4 bar. Results also show that the proposed control strategy, with a more aggressive learning for the control gain to the FSMC, achieves satisfactory performance tracking a trapezoidal reference trajectory. In order to further improve the control performance tracking of even higher frequencies, a reference input differential feedforward compensator is augmented and the FSMC in the feedback loop with each control gain adjusted by the back-propagation neural network. In the neural network learning algorithm, a radial basis function neural network (RBFNN) is applied to estimate the mathematical model of the dual PMA actuated manipulator. The experimental results show that the proposed radial basis function neural network fuzzy sliding mode control (RBFNNFSMC) strategy achieves accurate tracking of sinusoidal trajectories up to 3 Hz in frequency. The mean absolute error (MAE) achieved by the RBFNNFSMC tracking a sinusoidal trajectory of 3~Hz is about 0.98 degrees.
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Wu, You-Sheng, and 吳宥陞. "Applications of a Parallel Robot Actuated by Pneumatic Artificial Muscle Using Adaptive Fuzzy Sliding Mode Control Based on Orthogonal Functional Approximation." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/97186919882347475964.
Full textAbstract:
碩士聖約翰科技大學
自動化及機電整合研究所
101
Pneumatic muscle actuators have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as actuators in robots, including industrial robots and therapy robots. It is difficult to achieve excellent control performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder containers causes parameter variations. The paper uses both adaptive fuzzy sliding mode control with orthogonally functional approximation (FA + AFSMC) and adaptive fuzzy sliding mode control (AFSMC) to control the parallel robot actuated by PAMs including angle tracking control about the X-axis, Y-axis and displacement tracking control about Z-axis. The proposed approach includes AFSMC which can modify the fuzzy rules on-line, and the FA technique is used to estimate unknown parameters. The experimental results indicate that steady-state errors of the angle tracking are reduced 0.225mm, sine wave tracking errors of the displacement are reduced 0.92% in maximum amplitude, and phase lag decreased 0.52 degrees. Therefore, the proposed approach has excellent tracking control performance.