Journal articles: 'Muscoli Pneumatici'

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Jiang, Feilong, Guoliang Tao, and Qingwei Li. "Analysis and control of a parallel lower limb based on pneumatic artificial muscles." Advances in Mechanical Engineering 9, no. 1 (January 2017): 168781401668500. http://dx.doi.org/10.1177/1687814016685002.

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Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

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Efremova, K. D., and V. N. Pilgunov. "Pneumatic Automation Tools: Pneumatic Muscle." Mechanical Engineering and Computer Science, no. 10 (November 20, 2017): 36–56. http://dx.doi.org/10.24108/1017.0001315.

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The traditional actuating motor for pneumatic drives is a differential double-acting pneumatic cylinder used to create a pushing force that is significantly larger than the pulling force. The pneumatic muscle is a single-acting operating motor to be used for creating a pulling force. The pneumatic muscle is based on a cylindrical bladder (a thin two-dimensional elastic structure) property to change its shape or size upon applying overpressure of actuating medium to it.The paper objective is to present this new type of the actuating motor to a wide range of specialists in pneumatic automation. Using a bladder structure of the pneumatic muscle of the MAS family, company "FESTO" as an example, the paper considers a physical nature of its operation and defines a dependence of the force, developed by a pneumatic muscle in its internal cavity, on the overpressure value and the value of contraction. Describes an experimental setup to study static and dynamic characteristics of the pneumatic muscle, as well as a design of the loading and measuring device.The experimental study allowed us to obtain static and dynamic characteristics of the pneumatic muscle MAS 10-300: dependencies "force - contraction", "force - overpressure", and “contraction -overpressure". The averaged predicted value of the braid angle of impulsion of the cord thread for three sizes of the MAS family pneumatic muscle is determined according to German FESTO Product Catalogue to be 23 ... 25.5°.It is shown that the force curve of the pneumatic muscle is essentially nonlinear: the curve linearity is evident only when the pneumatic muscle contractions are, at most, 2% of its original length. Dynamic properties of the pneumatic muscle loaded with a constant force were evaluated through analysis of frequency characteristics: the operating frequency of the pneumatic muscle was f = 3 ... 6 Hz.The paper presents the reproducibility data of the force characteristic of a pneumatic muscle during its cyclic constant-value over-pressurisation p = 4 bar with a frequency f = 0.5 Hz.The researches have shown that with the cyclic over-pressurisation of the pneumatic muscle the force-value deviations from its averaged value are of systematic nature, depend on the number of loads, and so cannot be estimated by statistical characteristics. The paper considers an operating mode of the pneumatic muscle, as an extension spring, which is appropriate to the external force application to the pneumatic muscle to ensure return of the pneumatic muscle to the initial position after its contraction under over-pressurisation. An average value of the pneumatic spring stiffness is obtained from the force characteristic of the pneumatic muscle through its piecewise-linear approximation within the specified range of change in the contraction value. A comparative estimate of the forces developed by pneumatic muscles and pneumatic cylinders with equal working areas is given. It has been found that the pneumatic muscle contraction force exceeds the pulling force of the pneumatic cylinder, on average, 12 ... 14 times, but this advantage comes out only when the contractions of a pneumatic muscle are small. The usability of a short pneumatic muscle, as a control and loading device for the gates of hydraulic and pneumatic valve-type automation devices, has been investigated.

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Wang, Hu, Hongwei Yan, Haodong Wang, Zhong Yang, Zhiguang Ni, and Zhe Li. "Study on static characteristics of pneumatic muscles." MATEC Web of Conferences 232 (2018): 04071. http://dx.doi.org/10.1051/matecconf/201823204071.

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In this paper, the static characteristics of pneumatic muscles are studied by means of theoretical modelling, numerical simulation and experimental verification. Firstly, on the basis of ideal mathematical model, the static mathematical model of pneumatic muscle considering elasticity and friction of rubber is given. Based on the established mathematical model, a pneumatic muscle simulation model is established by using SIMULINK toolbox in MATLAB software environment, which includes model parameter assignment module, pneumatic muscle ideal module, elastic force simulation module, friction simulation module and so on. The influence of elastic force and frictional force of rubber layer on the output force of pneumatic muscle during pneumatic filling is studied by numerical simulation. Finally, a mechanical gripper test rig driven by pneumatic muscle is built. The experimental results show that pneumatic muscle actuator has certain flexible grasping characteristics. The research results provide a reference for the wide application of pneumatic muscle.

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Ohno, Akihiro, Yota Yamamoto, Megumi Oguro, and Koichi Suzumori. "Comparison in Characteristics of Textile Woven by Thin Pneumatic Artificial Muscle." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 43–44. http://dx.doi.org/10.1299/jsmeicam.2015.6.43.

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Si, Guang Ju, Ming Di Wang, and Kang Min Zhong. "Green Clamping Devices Based on Two-Step Orthogonal Toggle Force Amplifier Driven by Pneumatic Muscle." Key Engineering Materials 426-427 (January 2010): 413–16. http://dx.doi.org/10.4028/www.scientific.net/kem.426-427.413.

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As a new kind of flexible pneumatic actuator using clean compressed air as working medium, pneumatic muscle has many particular characteristics comparing with pneumatic cylinder. It can well accord with the development of green transmission technique. Combing pneumatic muscle with mechanical force amplifier is a practical and creative design method. According to this method, two kinds of green pneumatic clamping devices based on two-step orthogonal toggle force amplifier driven by pneumatic muscle are introduced. Their working principles and characteristic features are analyzed and corresponding mechanics calculating formulae are also given respectively.

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Sasaki, Daisuke, Toshiro Noritsugu, and Masahiro Takaiwa. "Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 774–79. http://dx.doi.org/10.1299/jsmeicam.2010.5.774.

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Efremova, K. D., V. N. Pilgunov, and A. S. Shablovskyi. "Pneumatic Muscle: Heat and Mass Transfer in the Cylindrical Membrane." Mechanical Engineering and Computer Science, no. 7 (October 20, 2018): 13–30. http://dx.doi.org/10.24108/0718.0001413.

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A pneumatic muscle is a one-way reciprocating air motor. It is designed to create apullingforce. The pneumatic muscle return to its initial position is ensured by a reversible strain of its shell. The pneumatic muscle is based on the cylindrical membrane with a rigid bottom and a cover. The membrane cord is formed during the process of cross-spiral weaving from the super-hard synthetic fibers (for example, Kevlar). After the cord has been filled with an elastomer, a strong, deformable and elastic shell is formed. When an overpressure is provided to the internal cavity of the membrane, in a diamond-shaped cell that is formed as a result of weaving cord threads, the tangential diagonal is lengthened and the axial diagonal is shortened simultaneously. Using the pneumatic muscle cord structure of the MAS series produced by FESTO company as an example, we studied a strain of the diamond-shaped cell of the membrane and found the numerical relationships between the value of the pneumatic muscle contraction, the inner diameter of the membrane and the volume of its internal cavity of the pneumatic muscle, which allowed us to develop a mathematical model of an idealized cylindrical membrane in the dynamics of which the strain force of the elastomer that fills the diamond-shaped cell was not taken into account. The paper shows that the cylindrical membrane used in the pneumatic muscle should be considered as a thermodynamic system with full or partial heat and mass transfer. Also discusses the special aspects of using pneumatic muscles in engineering systems as applied to the type of a thermodynamic process. The study of the air movement features in throttling openings of control and management devices, as well as the changes in the state of compressed air during heat and mass transfer allowed us to estimate a length of the transient process in the pneumatic muscle that works as part of the pneumatic load positioning system. The results of the performed studies expand opportunities for predicting the pneumatic muscle dynamics at the design stage of the pneumatic control system, as well as during its operation.

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Duțu, I. C., T. Axinte, E. Maican, C. Frățilă, R. G. Damian, E. Curcă, and V. Badanau. "Researches regarding the use of non-conventional actuators." Technium: Romanian Journal of Applied Sciences and Technology 3, no. 10 (November 10, 2021): 1–10. http://dx.doi.org/10.47577/technium.v3i10.5148.

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The purpose of this article is to present relevant concepts about the study of electro-pneumatic circuits using fluidic muscle actuators. The fluidic muscle is a type of pneumatic actuator having an extensive history of technical applications in the biomechanical field since the 1955. After Introduction, the authors study two pneumatic circuits. In fact, the first pneumatic circuit in this paper has only one actuator (fluidic muscle 1-1), but the second pneumatic circuit has two actuators (fluidic muscles 2-1 and 2-2. Further on, the authors present two electro-pneumatic schematics, a simple electro-pneumatic circuit and another electro-pneumatic circuit with PLC (Programmable Logic Controller). This type of actuator is used in robotics, material handling, motion control, industrial field and other applications. The pneumatic and electro-pneumatic circuits given in this paper are made using FluidSim software from Festo. In this case, the fluidic muscles are only non-conventional actuators. However, in pneumatic installations as well as in electro-pneumatic installations, the non-conventional actuators have the following advantages: strength, compactness, reliability, low price, ease of assembly or disassembly from their circuits, etc. Of course, in practice are many types of fluidic muscles, which are used in electro-pneumatic installations.

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Jiang, Feilong, Hao Liu, and Daxia Chai. "Humanoid Lower Limb: Design, Analysis, Observer-Based Fuzzy Adaptive Control and Experiment." Mathematical Problems in Engineering 2021 (February 10, 2021): 1–15. http://dx.doi.org/10.1155/2021/6694765.

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With flexibility similar to human muscles, pneumatic artificial muscles (PAMs) are widely used in bionic robots. They have a high power-mass ratio and are only affected by single-acting pneumatic pressure. Some robots are actuated by a pair of PAMs in the form of antagonistic muscles or joints through a parallel mechanism. The pneumatic pressure and length of PAMs should be measured simultaneously for feedback using a pressure transducer and draw-wire displacement sensor. The PAM designed by the FESTO (10 mm diameter) is too small to install a draw-wire displacement sensor coaxially and cannot measure muscle length change directly. To solve this problem, an angular transducer is adopted to measure joint angles as a whole. Then, the inertia of the lower limb is identified, and observer-based fuzzy adaptive control is introduced to combine with integrated control of the angular transducer. The parameters of the fuzzy control are optimized by the Gaussian basis neural network function, and an observer is developed to estimate the unmeasured angular accelerations. Finally, two experiments are conducted to confirm the effectiveness of the method. It is demonstrated that piriformis and musculi obturator internus act as agonistic muscle and antagonistic muscles alternatively, and iliopsoas is mainly responsible for strengthening because of the constant output force. Piriformis has a greater influence on yaw and roll angles, while musculi obturator internus is the one that influences the pitch angle the most. Due to joint friction, the dead zone of the high-speed on-off valve, lag of compressed air in the trachea, and coupling among angles are very difficult to realize precise trajectory tracking of the pitch, yaw, and roll angles simultaneously.

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Qin, Pei Liang, Ming Di Wang, and Kang Min Zhong. "Symmetric Beauty: Multi-Point Press Based on Parallel and Synchronous Toggle Mechanism Driven by Pneumatic Muscle." Advanced Materials Research 201-203 (February 2011): 2745–48. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.2745.

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Compared with the traditional rigid pneumatic cylinder, the pneumatic muscle has many outstanding advantages such as large ratio between output force and diameter, large ratio between output force and weight. However, it can only provide the tension, can not provide the thrust force, it is a one-orientation output force component. In this paper, two different diameters pneumatic muscle, combined with the parallel and synchronous toggle force-amplified mechanism,a new type of multi-point press has been innovated. The large-diameter pneumatic muscle will be used for the working stroke of the pressure travel, while the small-diameter pneumatic muscle will be used for the return travel. The tension of the pneumatic muscle will decrease with the increases of the contraction; the force-amplified coefficient of the toggle mechanism will increase with the decrease of the pressure angle, which is taken full account of this complementary relationship between them. So the output force curve of the press is improved smoothly.

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Zang, Ke Jiang, Yan Ma, Ning Sun, Zheng Ke Niu, Xing Chun Gui, and Xiao Ping Hu. "Study on Finite Element Model of Pneumatic Artificial Muscle." Advanced Materials Research 430-432 (January 2012): 383–86. http://dx.doi.org/10.4028/www.scientific.net/amr.430-432.383.

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Based on the study of the mechanics features of pneumatic artificial muscle including the nonlinearities in material, geometry, and with the method of nonlinear finite element analysis, the three-dimensional finite element model of a pneumatic artificial muscle was established. The analytical results were confirmed by the experiment with the use of a pneumatic artificial muscle test bench.

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Goossens, Nina, Lotte Janssens, Madelon Pijnenburg, Karen Caeyenberghs, Charlotte Van Rompuy, Paul Meugens, Stefan Sunaert, and Simon Brumagne. "Test–Retest Reliability and Concurrent Validity of an fMRI-Compatible Pneumatic Vibrator to Stimulate Muscle Proprioceptors." Multisensory Research 29, no. 4-5 (2016): 465–92. http://dx.doi.org/10.1163/22134808-00002526.

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Processing proprioceptive information in the brain is essential for optimal postural control and can be studied with proprioceptive stimulation, provided by muscle vibration, during functional magnetic resonance imaging (fMRI). Classic electromagnetic muscle vibrators, however, cannot be used in the high-strength magnetic field of the fMRI scanner. Pneumatic vibrators offer an fMRI-compatible alternative. However, whether these devices produce reliable and valid proprioceptive stimuli has not been investigated, although this is essential for these devices to be used in longitudinal research. Test–retest reliability and concurrent validity of the postural response to muscle vibration, provided by custom-made fMRI-compatible pneumatic vibrators, were assessed in a repeated-measures design. Mean center of pressure (CoP) displacements during, respectively, ankle muscle and back muscle vibration (45–60 Hz, 0.5 mm) provided by an electromagnetic and a pneumatic vibrator were measured in ten young healthy subjects. The test was repeated on the same day and again within one week. Intraclass correlation coefficients (ICC) were calculated to assess (a) intra- and interday reliability of the postural responses to, respectively, pneumatic and electromagnetic vibration, and (b) concurrent validity of the response to pneumatic compared to electromagnetic vibration. Test–retest reliability of mean CoP displacements during pneumatic vibration was good to excellent (ICCs = 0.64–0.90) and resembled that of responses to electromagnetic vibration (ICCs = 0.64–0.94). Concurrent validity of the postural effect of pneumatic vibration was good to excellent (ICCs = 0.63–0.95). In conclusion, the proposed fMRI-compatible pneumatic vibrator can be used with confidence to stimulate muscle spindles during fMRI to study central processing of proprioception.

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Mi, Juncheng, Guoqin Huang, and Jin Yu. "Characterization and Joint Control Study of Pneumatic Artificial Muscles." Applied Sciences 13, no. 2 (January 13, 2023): 1075. http://dx.doi.org/10.3390/app13021075.

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Physical dynamic characteristics and control studies were conducted for pneumatic artificial muscle (PAM), the core component of the drive of lower limb rehabilitation robots. Firstly, a static model and a dynamic model of the pneumatic artificial muscle were established. Then a test bench was designed to perform dynamic characteristic test simulations and experiments. After that, the pneumatic artificial muscle test bench was designed to simulate and test its dynamic characteristics. Finally, a typical PID (Proportional Integral Derivative) controller was built to perform control simulations and step control experiments for the pneumatic artificial muscle. Experiments show that the PID can achieve stable and accurate tracking of the signal and meet the application requirements of PAM.

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Efremova, K. D., and V. N. Pil'gunov. "Linear positioner based on pneumatic muscle." Izvestiya MGTU MAMI 12, no. 2 (June 15, 2018): 16–29. http://dx.doi.org/10.17816/2074-0530-66825.

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The main goal of the work is to investigate the technical possibilities of creating a linear positioner on the basis of pneumatic muscle with acceptable characteristics for positioning. The experimental study of the power characteristics of the pneumatic muscle of the MAS 10-300 series of “FESTO” company is carried out. The physical essence of the cylindrical membrane operation is considered, on the basis of which the pneumatic muscle is constructed and a method for calculating the parameters of the positioning spring has been developed. It is shown that if the positional component is present in the load of pneumatic muscle then its rigidity (the dependence of the force on displacement) allows solving the task of positioning by controlling the pressure in the internal cavity of pneumatic muscle. If there is no positional component in the load or it is too small, then a positioning spring is needed to solve the positioning problem. Methods for determining the parameters of the positioning spring for positioners created on the basis of MAS pneumatic muscles of “FESTO” company are given. It has been established that the pneumatic muscle, which is used as a linear pneumatic motor, generates a pulling force which, with zero reduction of the pneumatic muscle, is 12 ... 14 times greater than the force developed on the return stroke by a pneumatic cylinder of equal working area of the piston and the specific force (force referred to the mass of the pneumatic motor) of pneumatic muscle is 100 times larger. This makes it possible to use pneumatic muscle as a loading device for brake, clamping and tensioning devices of transport systems and mobile units. To use the positioner in the tracking position control system, it must be provided with an analog feedback sensor. The static characteristic of the created physical layout of the positioner, obtained experimentally, has a quasilinear section in the range of the control pressure change of 2.5 ... 5 bar and agrees well with the calculation results. The nature of the transient process with respect to the input effect makes it possible to treat the positioner as an aperiodic link of the first order with a time constant T = 2 ... 5 s. As an example, the possibility of using a positioner in solving problems related to the need to stabilize a cargo platform in a horizontal position, in the case of a shift of the center of gravity of the cargo relative to the vertical axis of the platform, was investigated. The results of the work can be used and implemented in solving problems of linear and angular positioning of the load in flexible production systems, in executive devices of industrial robots, etc.

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Zhang, Xiaotian, and Girish Krishnan. "A nested pneumatic muscle arrangement for amplified stroke and force behavior." Journal of Intelligent Material Systems and Structures 29, no. 6 (September 22, 2017): 1139–56. http://dx.doi.org/10.1177/1045389x17730920.

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This article presents a compact nested architecture to amplify the displacement and forces of pneumatic artificial muscles for potential use in human assistive devices and other robotic applications. The nested architecture consists of several levels in series, and each level is made up of contracting pneumatic muscles, passive force transfer members, and additively manufactured interconnects. The stroke obtained from the nested pneumatic artificial muscle architecture is not always beneficial and is limited by the length-dependent behavior of pneumatic artificial muscles and other practical manufacturing constraints such as the size of the interconnects. Thus, this article studies the effect of the pneumatic artificial muscle length on its stroke using a modified constrained volume maximization formulation, which predicts the actual shape of the deformed pneumatic artificial muscle, and models additional stiffness due to membrane bending. Using this formulation, a framework is presented to optimally design the number of nested levels and individual actuators in each level to obtain a required stroke. Such a system is designed to actuate the human elbow by an angle of 80°, where almost 40% contraction is obtained using custom-manufactured pneumatic artificial muscles inherently capable of contracting upto 17% of its length. The framework can be used to amplify the stroke and forces of any pneumatic artificial muscle actuator and adapt it to different application requirements.

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Lu, Lin, Ming Di Wang, and Kang Min Zhong. "Two-Position and Highly-Efficient Clamping Device Based on Lever-Toggle Force Amplifier Driven by Pneumatic Muscle." Advanced Materials Research 201-203 (February 2011): 2841–45. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.2841.

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The clean compressed air is taken as power transmission medium in pneumatic clamping devices, and when cutting after clamping the workpiece, the energy are not consumed any more. So it can be said that it is a green clamping technology. However, a low pressure of pneumatic driving makes a lot of pneumatic fixtures too bulky in size.A new innovation design idea of clamping mechanism based on pneumatic muscle and the eternallever-toggle force amplifier is described in this paper, in which the pneumatic muscle is instead of traditional rigid cylinder. The pneumatic muscle has some features such as extremely simple structure, good flexibility, the big ratio of output force and diameter/weight, etc. Thus, this device can get much greater clamping force on the condition of reducing the size and weight of the structure definitely. In addition, using two pneumatic muscles alternately, it can enable the time of processing a workpiece to overlap with the time of unloading another workpiece, and which can improve the production efficiency significantly.

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Efremova, K. D., and V. N. Pilgunov. "Pneumatic Muscle: Geometry of the Cylindrical Membrane and The Power Characteristic Prognostic." Mechanical Engineering and Computer Science, no. 3 (April 8, 2018): 20–34. http://dx.doi.org/10.24108/0318.0001377.

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The pneumatic muscle is a pneumatic motor of the single-acting reciprocating motion. It is designed to create apullingforce. Return of the pneumatic muscle to its original position is provided by elastic deformation of its shell. A cylindrical membrane with the hard bottom and the lid provides the basis of the pneumatic muscle.The membrane cord is formed in the process of helically shaped CU-braid of the threads made from the super-hard synthetic fibres (for example, Kevlar). After the cord is filled with an elastomer, a strong, deformable and elastic shell is formed. An excessive pressure applied to the internal cavity of the membrane arises an extension of the tangent diagonal and a simultaneous shortening of the axial diagonal in the diamond-shaped cell, which is formed as a result of braid of cord threads. This results in pneumatic muscle’s retraction up to 25% of its original length, while creating a sufficiently large contraction force, which depends significantly on the contraction value.Using the cord structure of the MAS series pneumatic muscles of the company “FESTO” as an example, we have investigated a diamond-shaped cell deformation of the membrane and have defined a numerical dependence of its internal diameter and the volume of the internal cavity of the pneumatic muscle on the contraction value. This allowed us to develop a mathematical model of an idealized cylindrical membrane whose dynamics does not take into account a deformation force of the elastomer, filling a diamond-shaped cell.The experimental studies of industrial samples of the MAS 10 family of pneumatic muscles, carried out using a specially designed unit, allowed us to obtain their force characteristics. In the numerical representation, these characteristics turned out to be 2.5 ... 3 times less than the force characteristics of the pneumatic muscle with an idealized membrane, thereby allowing us to draw conclusions that the elastomer deformation forces have a significant influence. There is a proposal to take into account the elastomer deformation effect on the force characteristics of the pneumatic muscle by dint of the correction factor available from a comparative estimate of the force characteristics of the idealized membrane and the normalized force characteristics of the pneumatic muscles of the MAS family.The results of the performed studies allow us to predict the force characteristics of pneumatic muscles at the stage of their design and in-service.

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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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Vida Nanda Chattalia and Ni Nyoman Mekar Sari. "The Effectiveness of Intermittent Pneumatic Compression for Delayed Onset Muscle Soreness in Active People: A Literature Review." Physical Therapy Journal of Indonesia 3, no. 1 (June 1, 2022): 26–32. http://dx.doi.org/10.51559/ptji.v3i1.45.

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Introduction: When the exercises we perform exceed the muscle endurance threshold, Delayed Onset Muscle Soreness (DOMS) often occurs. DOMS is pain that a person feels 24 to 48 hours after strenuous physical activity or heavy and intense physical activity that can lead to damage to muscles and other connective tissues in the form of small tears in the muscles, muscle spasms, overstretching, and can cause tendon and connective tissue tears. Symptoms produced by DOMS conditions are certainly alarming for daily activities. This literature review will discuss ways to reduce DOMS conditions by using Intermittent Pneumatic Compression to overcome these conditions. Methods: The method in this study used a literature review based on the study results of data sources (including PubMed, ScienceDirect, NCBI, and Google Scholar) database with a publication period from 2017 to 2022. Keywords used in the search: [“Delayed Onset Muscle Soreness,” “DOMS” or “Muscle Soreness”] and [“Intermittent Pneumatic Compression” or “Recovery Pump”]. Results: We found three related articles: two randomized controlled trials and one cross-over design based on the search result. The studies examined the effectiveness of Intermittent Pneumatic Compression on Delayed Onset Muscle Soreness. In the results of the three studies, Intermittent Pneumatic Compression offered little to no benefit in the recovery of DOMS inactive people. Conclusion: All studies concluded Intermittent Pneumatic Compression was not effective in reducing Delayed Onset Muscle Soreness.

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Macurova, Anna, and Stella Hrehova. "Some Properties of the Pneumatic Artificial Muscle Expressed by the Nonlinear Differential Equation." Advanced Materials Research 658 (January 2013): 376–79. http://dx.doi.org/10.4028/www.scientific.net/amr.658.376.

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The paper presents the proposal for the expressed some properties of the pneumatic artificial muscle. The solution of the differential equation is expressed by the application of the polar coordinate. This equation is the model for the movement of the pneumatic artificial muscle.

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Buchinsky, O. S., O. P. Varvinsky, and D. V. Zaitsev. "Intermittent Pneumatic Compression in Rehabilitation and Sports Medicine: Review." Ukraïnsʹkij žurnal medicini, bìologìï ta sportu 7, no. 5 (November 21, 2022): 15–20. http://dx.doi.org/10.26693/jmbs07.05.015.

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The purpose of the study was to characterize the clinical value of intermittent pneumatic compression in sports medicine according to the scientific literature. Materials and methods. The English-language publications refereed by the PubMed electronic database, by the keyword “intermittent pneumatic compression”, concerning sports achievements, physiology of athletes, sports rehabilitation and also the treatment of injuries were analyzed. Results and discussion. Hardware for intermittent pneumatic compression develops rapidly in sports rehabilitation, while a significant number of practitioners use intermittent pneumatic compression in combination with other means, which makes it difficult to assess its effectiveness. Traumatic risk is a reality of the professional activity of athletes. In several reviews of the literature, it was shown that the use of intermittent pneumatic compression after injuries can reduce thrombus formation, swelling and duration of preoperative preparation for fractures, reduce swelling and improve joint mobility after fractures, improve wound and fracture healing. During the rehabilitation period, intermittent pneumatic compression allows to reduce limb dysfunction after sprain, increase joint mobility, and enhance the effectiveness of occupational therapy measures. Conclusion. Skeletal muscles are undoubtedly the target organ of intermittent pneumatic compression, but the optimal parameters of exposure need to be clarified. During exercise, intermittent pneumatic compression improves vascular conductivity, and during the recovery period it reduces muscle proteolysis, increases blood flow and tissue oxygenation. Intermittent pneumatic compression does not appear to affect muscle strength and performance recovery. Intermittent pneumatic compression may help reduce delayed muscle pain syndrome, but the optimal conditions for such an effect need to be investigated. In trauma, in particular sprains and fractures, the use of intermittent pneumatic compression can reduce pain and the need for narcotic analgesics, especially in the early stages. The use of intermittent pneumatic compression can reduce swelling and shorten the duration of preoperative preparation for fractures, subsequently improving joint mobility, wound and fracture healing. After surgery or removal of immobilizers, intermittent pneumatic compression reduces swelling, improves limb function, and reduces hospital stay. When using intermittent pneumatic compression in work with athletes, the practitioner must also take into account its reparative, adaptive and other general effects. Intermittent pneumatic compression is a promising sports medicine tool, but the existing data are completely insufficient to make firm recommendations

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Qin, Pei Liang, and Kang Min Zhong. "Symmetric Beauty: Press Based on Reconfigurable Toggle Mechanism Driven by Pneumatic Muscle." Advanced Materials Research 291-294 (July 2011): 2452–55. http://dx.doi.org/10.4028/www.scientific.net/amr.291-294.2452.

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In this paper, two different diameter pneumatic muscle, combined with reconfigurable toggle mechanism, three kinds of press has been innovated, the working principle of the press are introduced, its calculating formulae of output power are also given,and the force amplifier coefficient were compared. The large-diameter pneumatic muscle will be used for the working stroke of the pressure travel, while the small-diameter pneumatic muscle will be used for the return travel.The press can satisfy the requirement of different output force and different structure size, no pollution, adapted to the greening trend, there is broad application prospects.

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Pietrala, Dawid Sebastian, and Pawel Andrzej Laski. "Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles." Applied Sciences 12, no. 21 (October 31, 2022): 11024. http://dx.doi.org/10.3390/app122111024.

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This article presents static and dynamic characteristics of artificial pneumatic muscles. The research stance and the methodology for their determination are described. A mathematical model of a pneumatic muscle has been proposed, having two inputs—the force generated by the muscle and the displacement of the muscle tip, and one output—the valve control voltage. The quality of object mapping was verified by a mathematical model for various trajectories. Then, the control system for the moment servo drive force was composed of two pneumatic muscles working in opposite directions connected by a toothed belt gear. The servo drive was verified and evaluated.

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Anh, Ho Pham Huy, Cao Van Kien, Nguyen Ngoc Son, and Nguyen Thanh Nam. "New approach of sliding mode control for nonlinear uncertain pneumatic artificial muscle manipulator enhanced with adaptive fuzzy estimator." International Journal of Advanced Robotic Systems 15, no. 3 (May 1, 2018): 172988141877320. http://dx.doi.org/10.1177/1729881418773204.

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A new enhanced adaptive fuzzy sliding mode control approach is proposed in this article with its good availability for application in control of a highly uncertain nonlinear two-link pneumatic artificial muscle manipulator. Stability demonstration of the robust convergence of the closed-loop pneumatic artificial muscle manipulator system based on a novel enhanced adaptive fuzzy sliding mode control is experimentally proved using Lyapunov stability theorem. Obtained result confirms that the new enhanced adaptive fuzzy sliding mode control method, applied to the two-link uncertain nonlinear pneumatic artificial muscle manipulator system, is fully investigated with better robustness and precision than the standard sliding mode control and fuzzy sliding mode control techniques.

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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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Sárosi, József, Ján Piteľ, Mária Tóthová, Alexander Hošovský, and István Bíró. "COMPARATIVE SURVEY OF VARIOUS STATIC AND DYNAMIC MODELS OF PNEUMATIC ARTIFICIAL MUSCLES." Transactions of the Canadian Society for Mechanical Engineering 41, no. 5 (December 2017): 825–44. http://dx.doi.org/10.1139/tcsme-2017-514.

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A lesser known type of pneumatic actuators is pneumatic artificial muscle (PAM) although these pneumatic actuators play an important role in industrial, medical and other applications. In this study a PAM model based on the assumption Euler’s law is developed, some static force models (geometric model-based static force model, static force model using maximum force of PAM and static force model using a polynomial function) are compared to Sárosi’s force model and two dynamic models based on Sárosi’s static force model and Hill’s muscle model are presented.

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Durante, Francesco, Michele Gabrio Antonelli, Pierluigi Beomonte Zobel, and Terenziano Raparelli. "A Procedure for the Fatigue Life Prediction of Straight Fibers Pneumatic Muscles." Actuators 10, no. 11 (November 11, 2021): 300. http://dx.doi.org/10.3390/act10110300.

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Different from the McKibben pneumatic muscle actuator, the straight fibers one is made of an elastomeric tube closed at the two ends by two heads that ensure a mechanical and pneumatic seal. High stiffness threads are placed longitudinally into the wall of the tube while external rings are placed at some sections of it to limit the radial expansion of the tube. The inner pressure in the tube causes shortening of the actuator. The working mode of the muscle actuator requires a series of critical repeated contractions and extensions that cause it to rupture. The fatigue life duration of a pneumatic muscle is often lower than traditional pneumatic actuators. The paper presents a procedure for the fatigue life prediction of a straight-fibers muscle based on experimental tests directly carried out with the muscles instead of with specimens of the silicone rubber material which the muscle is made of. The proposed procedure was experimentally validated. Although the procedure is based on fatigue life duration data for silicone rubber, it can be extended to all straight-fibers muscles once the fatigue life duration data of any material considered for the muscles is known.

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Petre, Ioana Mădălina. "Studies regarding the Use of Pneumatic Muscles in Precise Positioning Systems." Applied Sciences 11, no. 21 (October 21, 2021): 9855. http://dx.doi.org/10.3390/app11219855.

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The paper presents the methods and results of an experimental study that highlights the behavior of a pneumatic actuator under different pressures and with different loads applied. One important challenge that occurs in the application of pneumatic muscles is the phenomenon of hysteresis, which causes a nonlinear relationship between the input–output values. The aim of this study is to identify the occurrence of hysteresis in the operation of a small pneumatic muscle in different conditions. Thus, different loads are attached to the free end of a pneumatic muscle and different successive pressures are applied in order to examine the hysteresis of the contraction ratio when the muscle is inflated and then deflated. The obtained equations that describe the relationship between the input pressure and the axial contraction are significant for reaching a high-performance position control. In this regard, the article proposes a solution to increase positioning accuracy based on pressure control using a proportional pressure regulator and a programmable logic controller.

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Saga, Norihiko, Kunio Shimada, Douhaku Inamori, Naoki Saito, Toshiyuki Satoh, and Jun-ya Nagase. "Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle." Sensors 22, no. 22 (November 19, 2022): 8975. http://dx.doi.org/10.3390/s22228975.

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Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots’ structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control.

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Maiti, Gaurav, Shuichi Wakimoto, Takefumi Kanda, and Koichi Suzumori. "Establishment of a simplified simulation method for Axially Reinforced Pneumatic Artificial Muscle by introducing Anisotropic Material." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 276–77. http://dx.doi.org/10.1299/jsmeicam.2015.6.276.

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Kotkas, Lyubov, Nikita Zhurkin, Anatolij Donskoy, and Aleksander Zharkovskij. "Design and Mathematical Modeling of a Pneumatic Artificial Muscle-Actuated System for Industrial Manipulators." Machines 10, no. 10 (October 1, 2022): 885. http://dx.doi.org/10.3390/machines10100885.

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Pneumatic muscles have significant advantages over typical pneumatic cylinders, such as smooth speed adjustment, higher power-to-weight ratio and longer operating life. Applying а pneumatic artificial muscle is а way to considerably simplify manipulator mechanisms due to its physical properties. This paper deals with the development of positioning control principles of pneumatic artificial muscle drive and presents numerical and experimental investigations of different operation modes such as lifting and lowering а load under normal working conditions, operation in а case of а sudden load separation and position control by manual operator force. In this work, the mathematical model elaborated earlier was numerically and experimentally investigated. Experimental validation of static and dynamic characteristics confirmed the results of the theoretical studies, so the elaborated model can be used to design a PAM-based manipulator with required characteristics.

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Sárosi, József, and Zoltán Fabulya. "A Fluidic Muscle által kifejtett erő közelítésének vizsgálata MS Excel környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 8, no. 1-2 (January 1, 2013): 70–76. http://dx.doi.org/10.14232/jtgf.2013.1-2.70-76.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company and Shadow Air Muscle manufactured by Shadow Robot Company). Pneumatic artificial muscles have a wide range of use in industrial and medical fields. There are a lot of advantages of these muscles like the high strength, good power-weight ratio, low price, little maintenance needed, great compliance, compactness, inherent safety and usage in rough environments. The main disadvantage is that their dynamic behaviour is highly nonlinear. The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper the newest function approximations for the force generated by Fluidic Muscles are investigated in MS Excel.

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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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Vagaská, Alena. "Mathematical Description and Static Characteristics of the Spring Actuator with Pneumatic Artificial Muscle." Applied Mechanics and Materials 460 (November 2013): 65–72. http://dx.doi.org/10.4028/www.scientific.net/amm.460.65.

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The article is focused on the actuator with one pneumatic artificial muscle and spring which counteracts the tensile force of the artificial muscle. Such a solution requires only one inlet and one outlet electromechanical pneumatic valve. It is suitable for the synthesis of so-called low cost bioservosystems. The paper presents mathematical description and static characteristics of individual parts of the actuator and also characteristics of the all mechanism.

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Odenbach, Robert, Alan Guthrie, and Michael Friebe. "Evaluation of MRI-compatible pneumatic muscle stepper motors." Current Directions in Biomedical Engineering 5, no. 1 (September 1, 2019): 339–41. http://dx.doi.org/10.1515/cdbme-2019-1570538319.

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AbstractThe automation of instruments and tools (e.g. bone drill) or robotic devices (e.g. needle positioning robot for prostate surgery) for use in interventional MRI (iMRI) is still challenging due to a lack of accurate, affordable and completely metal-free actuators and motors. Inspired by biological muscles, a bionic equivalent known as the fluid muscle actuator (which can be operated pneumatically or hydraulically) is well-known in the mechanical engineering industry. Fluid muscle actuators have multiple beneficial characteristics: they are simple, self-returning, low-friction and can produce relatively high actuation forces at low diameters and pressures. We present two novel designs for metal-free, pneumatic stepper motors for potential application in iMRI. Our stepper motors are powered by simple pneumatic muscles, which are assembled from low-cost off-the-shelf components. Besides, the components of the stepper motor demonstrators were 3Dprinted using a stereolithographic additive manufacturing process (SLA printing). We evaluate the effect of pneumatic muscle length on contractile force and length. Our results demonstrated the functional feasibility of the pneumatic muscle-powered and fully MRI-compatible stepper motor designs. In a next step, we will optimize the motor´s design, characterize their performance and reliability, and use the stepper motors to power a micropositioning device in iMRI-phantom tests.

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Sárosi, József, János Gyeviki, and Sándor Csikós. "Mesterséges pneumatikus izomelemek modellezése és paramétereinek szimulációja MATLAB környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 273–77. http://dx.doi.org/10.14232/jtgf.2010.1-2.273-277.

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Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.

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Nakajima, Masaaki, Tomoka Tsuro, and Akemi Endo. "Sustained Compression with a Pneumatic Cuff on Skeletal Muscles Promotes Muscle Blood Flow and Relieves Muscle Stiffness." International Journal of Environmental Research and Public Health 19, no. 3 (February 1, 2022): 1692. http://dx.doi.org/10.3390/ijerph19031692.

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(1) Purpose: This study aimed to examine whether a pneumatic cuff could promote muscle blood flow and improve muscle stiffness by continuously compressing muscles with air pressure in healthy college students. (2) Method: Twenty-one healthy collegiate students participated in this study. The probe of the near-infrared spectrometer was attached to the upper surface of the left gastrocnemius muscle, and a cuff was wrapped around the left lower leg. The cuff was inflated to 200 mmHg. After 10 min, the cuff was deflated, and the patient rested for 10 min. Muscle stiffness and fatigue were assessed before and after the intervention. (3) Results: During 10 min of continuous compression, StO2 continued to decrease until seven min of compression. After 10 min of continuous compression, StO2 was 30.8 ± 10.4%, which was approximately half of 69.2 ± 6.1% at rest. After the release of the pneumatic cuff compression, the StO2 remained higher than that at rest from 1 to 10 min. Muscle hardness was 19.0 ± 8.0 before intervention was 8.7 ± 4.8 after the intervention. Muscle fatigue was 6.6 ± 1.7 cm before the intervention and 4.0 ± 1.6 cm after the intervention. (4) Conclusions: This study suggests that sustained muscle compression using a pneumatic cuff can promote muscle blood flow and improve muscle stiffness and fatigue.

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Sárosi, József, Zoltán Fabulya, János Gyeviki, Gábor Keszthelyi-Szabó, and Péter Szendró. "Investigation of accuracy of the newest function approximation for the force generated by pneumatic artifial muscle." Analecta Technica Szegedinensia 7, no. 1-2 (January 24, 2013): 39–49. http://dx.doi.org/10.14232/analecta.2013.1-2.39-49.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company). The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper our newest function approximation for the force generated by Fluidic Muscles is shown that can be generally used for different muscles made by Festo Company.

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Rimar, Miroslav, Marcel Fedak, Ivan Corny, Andrii Kulikov, Stefan Kuna, Olha Kulikova, and Jakub Vahovsky. "Pulse width modulation modeling for efficient pneumatic artificial muscle control." Advances in Mechanical Engineering 11, no. 12 (December 2019): 168781401989543. http://dx.doi.org/10.1177/1687814019895439.

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The aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear structure. For this reason, the design of a robust positioning control system for pneumatic artificial muscle devices is demanding because, apart from the above-mentioned nonlinearity (because of air compressibility, air flow variability through valves, etc.), this is a time-and-parameter invariant system. The aim of the article is to evaluate the influence of pulse width modulation in pneumatic artificial muscle systems with regard to the accuracy and stability of the position achieved in the repeat mode, as well as the elimination of the adverse effect of the oscillation. The efficiency of the proposed control algorithm is demonstrated by experiments with external workload and no load.

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Wang, Y.-T., R.-H. Wong, and J.-T. Lu. "Comparative studies of the set up of two-dimensional pneumatic arm systems by muscle and rotational actuators." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 221, no. 5 (August 1, 2007): 743–48. http://dx.doi.org/10.1243/09596518jsce413.

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As opposed to traditional pneumatic linear actuators, muscle and rotational actuators are newly developed actuators in rotational and specified applications. In the current paper, these actuators are used to set up two-dimensional pneumatic arms, which are used mainly to simulate the excavator's motion. Fuzzy control algorithms are typically applied in pneumatic control systems owing to their non-linearities and ill-defined mathematical model. The self-organizing fuzzy controller, which includes a self-learning mechanism to modify fuzzy rules, is applied in these two-dimensional pneumatic arm control systems. Via a variety of trajectory tracking experiments, the present paper provides comparisons of system characteristics and control performances.

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Deaconescu, Tudor, and Andrea Deaconescu. "Study Concerning the Hysteresis of Pneumatic Muscles." Applied Mechanics and Materials 841 (June 2016): 209–14. http://dx.doi.org/10.4028/www.scientific.net/amm.841.209.

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A known phenomenon during the contraction/expansion cycles of pneumatic muscles is the occurrence of hysteresis, caused by the elasticity of their component materials. The inherent hysteresis manifest in pneumatic muscles increases the non-linearity of the systems they are included in and consequently the complexity of the related control systems. The paper discusses a number of experimental results obtained for the hysteresis related behaviour of a small size Festo pneumatic muscle, where the specific hysteresis loops were highlighted via isotonic testing.

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Durante, Francesco, Terenziano Raparelli, and Pierluigi Beomonte Zobel. "Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles." Bioengineering 9, no. 8 (August 9, 2022): 377. http://dx.doi.org/10.3390/bioengineering9080377.

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In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors’ research group.

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Mirvakili, Seyed M., Douglas Sim, Ian W. Hunter, and Robert Langer. "Actuation of untethered pneumatic artificial muscles and soft robots using magnetically induced liquid-to-gas phase transitions." Science Robotics 5, no. 41 (April 15, 2020): eaaz4239. http://dx.doi.org/10.1126/scirobotics.aaz4239.

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Pneumatic artificial muscles have been widely used in industry because of their simple and relatively high-performance design. The emerging field of soft robotics has also been using pneumatic actuation mechanisms since its formation. However, these actuators/soft robots often require bulky peripheral components to operate. Here, we report a simple mechanism and design for actuating pneumatic artificial muscles and soft robotic grippers without the use of compressors, valves, or pressurized gas tanks. The actuation mechanism involves a magnetically induced liquid-to-gas phase transition of a liquid that assists the formation of pressure inside the artificial muscle. The volumetric expansion in the liquid-to-gas phase transition develops sufficient pressure inside the muscle for mechanical operations. We integrated this actuation mechanism into a McKibben-type artificial muscle and soft robotic arms. The untethered McKibben artificial muscle generated actuation strains of up to 20% (in 10 seconds) with associated work density of 40 kilojoules/meter3, which favorably compares with the peak strain and peak energy density of skeletal muscle. The untethered soft robotic arms demonstrated lifting objects with an input energy supply from only two Li-ion batteries.

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Chen, Lingling, Chao Wang, Jie Wang, and Xiaowei Song. "Design of Hybrid Phase Sliding Mode Control Scheme for Lower Extremity Exoskeleton." Applied Sciences 9, no. 18 (September 8, 2019): 3754. http://dx.doi.org/10.3390/app9183754.

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Aiming at a pneumatic artificial muscle (PAM) lower extremity exoskeleton, a control mechanism based on hybrid phase sliding mode control (SMC) is proposed. First of all, the human gait cycle is mainly divided into the swing phase and stance phase, and the lower extremity exoskeleton phase models are established by the Euler–Lagrange method, respectively. Secondly, the lower limb exoskeleton is inevitably affected in the diverse working environment, and the exoskeleton model has nonlinear and strong coupling characteristics, which both increase the control difficulty. In this situations, a robust sliding mode control method is designed based on an Extended State Observer (ESO). Thirdly, the pneumatic muscle takes time to contract and relax, and then the joint input torque cannot jump when the gait phase changes, hence, the smoothing switching of the assistive control scheme is introduced to solve it. The smoothing switching time is detected by a phase detector, and the phase detector is designed by the plantar pressure information. Finally the comparative simulation shows that this control strategy has the advantages of fast time, high control precision and no jump during control torque switching. Pneumatic artificial muscle contraction rate curve shows that the pneumatic muscles’ motion range meets the control requirement of the exoskeleton.

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Zhang, Wen Hai, Ling Qin, Ji Yao Wang, and Wei Xu. "Design of squeezing-tube-driven pump for soft pneumatic robotics based on spiral spring winding." Applied Physics Letters 122, no. 9 (February 27, 2023): 093702. http://dx.doi.org/10.1063/5.0135330.

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Aiming at the demand for high-speed, easy-controllability, and integration of pneumatic soft robots and elastomer actuators, this study presents a squeezing-tube-driven pump (STDP) for soft pneumatic robotics based on spiral spring winding. This concept contains a customized spiral spring and a pneumatic tube with high-elasticity. The spiral spring is driven by an electric motor and coerced into winding deformation. Furthermore, the pneumatic tube is extruded by the spring and then the air in the tube is fast compressed to drive soft pneumatic grippers. The mechanical model and simulation are utilized to explain the operating principle of STDP. The air pressure and rotation angle of the spring under various rotation speeds are in a close linear correlation verified by the experimental results, which provides feasibility for easy controlling and rapid actuation. Finally, fast-gripping tests with an integrated gripper–pump system and a pneumatic muscle actuation test are presented to show the advantages of the proposed pump, respectively.

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Ning, Dayong, Jinkai Che, Zengmeng Zhang, Hao Tian, Jiaoyi Hou, and Yongjun Gong. "Position/force control of master–slave antagonistic joint actuated by water hydraulic artificial muscles." International Journal of Advanced Robotic Systems 16, no. 3 (May 1, 2019): 172988141985398. http://dx.doi.org/10.1177/1729881419853981.

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Because of the high force–weight ratio of water hydraulic artificial muscle and its high compatibility with an underwater environment, the water hydraulic artificial muscle has received increasing attention due to its potential uses in marine engineering applications. The master–slave anthropopathic joint actuated by water hydraulic artificial muscles is light and small, and it has good maneuverability for underwater manipulators. However, the control methodologies for water hydraulic artificial muscle joint have not been thoroughly explored to date. This article introduces a master–slave control system of isomorphic artificial muscle joints. The water hydraulic artificial muscle joint acts as a slave joint working under the sea, and the pneumatic artificial muscle joint acts as a master joint that is operated by people. The rotation angle signal of the pneumatic artificial muscle joint is fed back as the input to regulate the rotation angle of the water hydraulic artificial muscle joint through a proportional–integral–derivative control. Meanwhile, the torque of the pneumatic artificial muscle joint is controlled by a proportional–integral–derivative controller based on the feedback of a two-force-transducer system in the water hydraulic artificial muscle joint as input. Therefore, the operator can control the movement and feel the load of the water hydraulic artificial muscle slave joint. Master–slave control experiments were performed, and the position/torque control results were analyzed using various loads and torque gains. This study contributes to the design and control of an anthropopathic underwater manipulator.

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Sari, Zübeyir, Onur Aydoğdu, İlkşan Demirbüken, S. Ufuk Yurdalan, and M. Gülden Polat. "A Better Way to Decrease Knee Swelling in Patients with Knee Osteoarthritis: A Single-Blind Randomised Controlled Trial." Pain Research and Management 2019 (May 2, 2019): 1–7. http://dx.doi.org/10.1155/2019/8514808.

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Objective. In this study, we compared the effects of intermittent pneumatic compression along with conventional treatment with cold-pack treatment along with conventional treatment on clinical outcomes in patients with knee osteoarthritis.Methods. Eighty-nine patients with knee osteoarthritis participated in this study. One group received ultrasound, transcutaneous electrical nerve stimulation, electrical stimulation, exercise, and cold packs. The second group received ultrasound, transcutaneous electrical nerve stimulation, electrical stimulation, exercise, and intermittent pneumatic compression. Range of motion, muscle strength, knee swelling, pain intensity, and functional status were measured at baseline and 4th week.Results. We found significant improvements in range of motion, muscle strength, pain intensity, and functional status after the treatment in both groups (p<0.05). When comparing the effects of these two treatment programs, it was observed that the intermittent pneumatic compression treatment group had a better outcome in terms of knee swelling (p=0.028).Conclusions. According to the results, we could report that intermittent pneumatic compression therapy in addition to conventional treatment has significant positive effects on clinical outcomes in patients with knee osteoarthritis. We could also report that intermittent pneumatic compression therapy along with conventional treatment is superior to cold-pack therapy along with conventional treatment in terms of knee swelling in patients with knee osteoarthritis. This trial is registered withNCT03806322.

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Noritsugu, Toshiro, Masahiro Takaiwa, and Daisuke Sasaki. "Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles." Journal of Robotics and Mechatronics 21, no. 5 (October 20, 2009): 607–13. http://dx.doi.org/10.20965/jrm.2009.p0607.

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In the future, when the average age of the members of society becomes advanced, an innovative technology to assist the activities of daily living of elderly and disabled people and to assist in the heavy work in nursing will be desired. To develop such a technology, an actuator that is safe and user-friendly is required. It should be small, lightweight, and sufficiently soft. Such an actuator is available in artificial muscle made of pneumatic rubber. We have developed some types of pneumatic rubber artificial muscles and applied them to wearable power assist devices. A wearable power assist device is fitted to the human body to assist the power of muscles that support the activities of daily living, rehabilitation, training, and so on. In this paper, some types of pneumatic rubber artificial muscles developed and manufactured in our laboratory are presented. Furthermore, two kinds of wearable power assist devices driven by the rubber artificial muscles are described. Finally, some evaluations clarify the effectiveness of pneumatic rubber artificial muscle for innovative human assistance technologies.

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Noritsugu, Toshiro. "Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot." Journal of Robotics and Mechatronics 9, no. 1 (February 20, 1997): 7–13. http://dx.doi.org/10.20965/jrm.1997.p0007.

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A human-robot coexisting system requires the essential function such as safety and flexibility which are not common in general industrial robots. To build up such a robot system, an inherently flexible actuator must be effectively used rather than a conventional rigid actuator. A pneumatic actuator seems just available as such a human friendly actuator. In this paper, a property of the flexibility of pneumatic actuator is analyzed compared with a DC electric motor. Also the application of a pneumatic rubber artificial muscle actuator to a rehabilitation robot is discussed. The results show that a pneumatic actuator can well work as one of human friendly actuators with cooperation of a proper control strategy.

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Gyeviki, János, József Sárosi, Antal Véha, and Péter Toman. "Sliding mode control of pam actuator in LabVIEW environment." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 249–53. http://dx.doi.org/10.14232/jtgf.2010.1-2.249-253.

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As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.

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Journal articles on the topic 'Muscoli Pneumatici'

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