TY - JOUR
T1 - A new dynamic modelling algorithm for Pneumatic muscle actuators
AU - Cao, Jinghui
AU - Xie, Sheng Quan
AU - Zhang, Mingming
AU - Das, Raj
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and built to investigate PMA’s dynamics. The device automates the experimental process by providing motions and recording pressure, force, position and velocity data. The gathered experimental data enable the authors to validate a previous PMA dynamic model. Meanwhile, new models are developed from the original model. Statistical analysis proves that the new models can better represent the PMA dynamics during the experiments.
AB - Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and built to investigate PMA’s dynamics. The device automates the experimental process by providing motions and recording pressure, force, position and velocity data. The gathered experimental data enable the authors to validate a previous PMA dynamic model. Meanwhile, new models are developed from the original model. Statistical analysis proves that the new models can better represent the PMA dynamics during the experiments.
KW - Pneumatic muscle actuator
KW - Rehabilitation robotics
KW - Wearable robotics
UR - https://www.scopus.com/pages/publications/84921493177
U2 - 10.1007/978-3-319-13963-0_44
DO - 10.1007/978-3-319-13963-0_44
M3 - 文章
AN - SCOPUS:84921493177
SN - 0302-9743
VL - 8918
SP - 432
EP - 440
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ER -