Bibliographies thématiques / Muscoli Pneumatici

Littérature scientifique sur le sujet « Muscoli Pneumatici »

Auteur : Grafiati

Publié le 14 mars 2023

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Articles de revues sur le sujet "Muscoli Pneumatici"

Jiang, Feilong, Guoliang Tao et Qingwei Li. « Analysis and control of a parallel lower limb based on pneumatic artificial muscles ». Advances in Mechanical Engineering 9, n^o 1 (janvier 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., et V. N. Pilgunov. « Pneumatic Automation Tools : Pneumatic Muscle ». Mechanical Engineering and Computer Science, n^o 10 (20 novembre 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 et 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 et 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 et Kang Min Zhong. « Green Clamping Devices Based on Two-Step Orthogonal Toggle Force Amplifier Driven by Pneumatic Muscle ». Key Engineering Materials 426-427 (janvier 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 et 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 et A. S. Shablovskyi. « Pneumatic Muscle : Heat and Mass Transfer in the Cylindrical Membrane ». Mechanical Engineering and Computer Science, n^o 7 (20 octobre 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 et V. Badanau. « Researches regarding the use of non-conventional actuators ». Technium : Romanian Journal of Applied Sciences and Technology 3, n^o 10 (10 novembre 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 et Daxia Chai. « Humanoid Lower Limb : Design, Analysis, Observer-Based Fuzzy Adaptive Control and Experiment ». Mathematical Problems in Engineering 2021 (10 février 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 et Kang Min Zhong. « Symmetric Beauty : Multi-Point Press Based on Parallel and Synchronous Toggle Mechanism Driven by Pneumatic Muscle ». Advanced Materials Research 201-203 (février 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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Thèses sur le sujet "Muscoli Pneumatici"

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.
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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 et 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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Livres sur le sujet "Muscoli Pneumatici"

Buck, Alex. Pneumatic Muscle by Axel Thallemer. Sous la direction de Alex Buck. Birkhauser, 2002.

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Chapitres de livres sur le sujet "Muscoli Pneumatici"

Ramasamy, Ramesh, Mohamed Rizon Juhari, Masanori Sugisaka et Noor Azuan Osman. « Pneumatic Artificial Muscle in Biomedical Applications ». Dans 3rd Kuala Lumpur International Conference on Biomedical Engineering 2006, 219–21. Berlin, Heidelberg : Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-68017-8_57.

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Deaconescu, Andrea, et Tudor Deaconescu. « Bio-Inspired Pneumatic Muscle Actuated Robotic System ». Dans Intelligent Automation and Systems Engineering, 27–40. New York, NY : Springer New York, 2011. http://dx.doi.org/10.1007/978-1-4614-0373-9_3.

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Udhayakumar, S., R. K. Bharath, N. Kowshik Santhakumar et B. A. Mohamed Samsudeen Soofi. « Review on Applications of Pneumatic Air Muscle ». Dans Advances in Forming, Machining and Automation, 655–66. Singapore : Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-3866-5_52.

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Takuma, Takashi, Koh Hosoda, Masaki Ogino et Minoru Asada. « Controlling Walking Period of a Pneumatic Muscle Walker ». Dans Climbing and Walking Robots, 757–64. Berlin, Heidelberg : Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_74.

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Draghici, Mihai Petru, Calin Rusu, Alin Plesa, Radu Balan et Sorin Besoiu. « Control Method Comparison for Pneumatic Artificial Muscle Actuators ». Dans The 11th IFToMM International Symposium on Science of Mechanisms and Machines, 351–59. Cham : Springer International Publishing, 2013. http://dx.doi.org/10.1007/978-3-319-01845-4_35.

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De Benedictis, Carlo, Walter Franco, Daniela Maffiodo et Carlo Ferraresi. « Hand Rehabilitation Device Actuated by a Pneumatic Muscle ». Dans Advances in Service and Industrial Robotics, 102–11. Cham : Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00232-9_11.

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Belforte, Guido, Gabriella Eula, Alexandre Ivanov, Terenziano Raparelli et Silvia Sirolli. « Study and Experimentation of Innovative Textile Pneumatic Muscle Prototypes ». Dans Advances in Service and Industrial Robotics, 854–61. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_90.

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Cao, Jinghui, Sheng Quan Xie, Mingming Zhang et Raj Das. « A New Dynamic Modelling Algorithm for Pneumatic Muscle Actuators ». Dans Intelligent Robotics and Applications, 432–40. Cham : Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13963-0_44.

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Huang, Xiang, Hai-Tao Zhang, Dongrui Wu et Lijun Zhu. « Interval Type-2 Fuzzy Control of Pneumatic Muscle Actuator ». Dans Intelligent Robotics and Applications, 423–31. Cham : Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-97586-3_38.

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Kopecny, L., et L. Zalud. « Measurements for the Thermodynamic Model of a Pneumatic Muscle Actuator ». Dans Smart Sensors, Measurement and Instrumentation, 359–76. Cham : Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-10948-0_18.

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Actes de conférences sur le sujet "Muscoli Pneumatici"

Usevitch, Nathan S., Allison M. Okamura et Elliot W. Hawkes. « APAM : Antagonistic Pneumatic Artificial Muscle ». Dans 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. http://dx.doi.org/10.1109/icra.2018.8460881.

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Naik, Prabhakar, Jayant Unde, Bhushan Darekar et S. S. Ohol. « Pneumatic Artificial Muscle Powered Exoskeleton ». Dans AIR 2019 : Advances in Robotics 2019. New York, NY, USA : ACM, 2019. http://dx.doi.org/10.1145/3352593.3352627.

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Abrar, T., F. Putzu, J. Konstantinova et K. Althoefer. « EPAM : Eversive Pneumatic Artificial Muscle ». Dans 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2019. http://dx.doi.org/10.1109/robosoft.2019.8722787.

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Kopecny, L., et L. Zalud. « Hybrid electro-pneumatic robotic arm - integration of pneumatic muscle actuator ». Dans 2011 IEEE/SICE International Symposium on System Integration (SII 2011). IEEE, 2011. http://dx.doi.org/10.1109/sii.2011.6147523.

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Zheng, Hao, et Xiangrong Shen. « Concept, Design, and Application of Sleeve Muscle Actuator ». Dans ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34720.

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Sleeve muscle is a new class of pneumatic muscle actuator that provides significant performance improvement and new design characteristics in comparison with the traditional pneumatic muscle. Inspired by the force-generating mechanism of traditional pneumatic muscle, the sleeve muscle incorporates a unique insert structure to eliminate the loss of extension force capacity due to the air pressure applied to the moving end connector. Two types of sleeve muscle are presented in this paper, including a single-acting type that enables the integration of the actuator with the load bearing structure, and a double-acting type that provides a unique capability of bi-directional actuation. The designs of these sleeve muscle actuators are discussed, along with their potential applications in bio-robotic systems.

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Jouppila, V., et A. Ellman. « Multiplexed Force Control of Pneumatic Muscles ». Dans ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-13645.

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Pneumatic actuators are often used in applications that require high power-to-weight ratio, combined with low price and clean and fast operation. However, due to the compressibility of air and highly nonlinear behavior of seal friction, the position and force control of these actuators is difficult to manage. As a result, pneumatic cylinders have been used for many years solely in simple repetitive tasks requiring only a very limited amount of system control. Nonetheless, the pneumatic actuators have properties such as compactness, high power-to-weight ratio, and simplicity that are desirable features in advanced robotics. To overcome the shortcomings, a number of advanced pneumatic components have been developed, of which the most promising is the pneumatic muscle. Compared to a cylinder, a pneumatic muscle not only has a higher power-to-weight and power-to-volume ratio but it is also almost frictionless and has zero leakage. In spite of the muscle actuator's nonlinear force-to-contraction characteristics, many motion and force control methods have been successfully applied to it. The characteristics of the actuator enable it to be used in simple positioning systems and as a variable gas spring. The actuator's almost linear pressure-to-force ratio is extremely well-suited to a variety of gripping and pressing applications. Due to the muscle actuator's characteristics and recent developments in pneumatic valve technology, there is an opportunity to share a single pressure control servo valve among multiple muscle actuators. The multiplexed control of the actuators with only one servo valve reduces the system costs significantly. In this paper we investigate the feasibility of employing multiplexed force control of four pneumatic muscle actuators. In the system, pressure is controlled by a single proportional pressure valve. High-speed switching valves are used for activating the pressure control for each muscle actuator in the desired manner. Pneumatic cylinders are attached to the other ends of the muscles in order to cause controllable position disturbances. The displacement, force and pressure of each muscle are measured with appropriate sensors. The system behavior is investigated under position disturbances.

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Tae-Yong Choi, Joon-Hong Seok et Ju-Jang Lee. « Safe robot with artificial pneumatic muscle ». Dans 2009 IEEE International Symposium on Industrial Electronics (ISIE 2009). IEEE, 2009. http://dx.doi.org/10.1109/isie.2009.5219917.

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Daohui Zhang, Xingang Zhao et Jianda Han. « Active modeling for pneumatic artificial muscle ». Dans 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC). IEEE, 2016. http://dx.doi.org/10.1109/amc.2016.7496326.

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« Pneumatic Muscle Actuated Compliant Gripper System ». Dans Jan. 31-Feb. 1, 2017 Bali (Indonesia). EIRAI, 2017. http://dx.doi.org/10.17758/eirai.f0217105.

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Saga, Norihiko, et Seiji Chonan. « Control performance of pneumatic artificial muscle ». Dans Smart Materials, Nano- and Micro-Smart Systems, sous la direction de Said F. Al-Sarawi. SPIE, 2006. http://dx.doi.org/10.1117/12.695974.

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Rapports d'organisations sur le sujet "Muscoli Pneumatici"

Lilly, John H. Pneumatic Muscle Actuator Control. Fort Belvoir, VA : Defense Technical Information Center, février 2004. http://dx.doi.org/10.21236/ada420339.

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Purasinghe, Rupa, Maria Feng et Masanobu Shinozuka. Development of High Performance Pneumatic Muscle Actuator Systems. Fort Belvoir, VA : Defense Technical Information Center, novembre 1999. http://dx.doi.org/10.21236/ada415587.

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