Assessments on the improved modelling for pneumatic artificial muscle actuators

Name: Assessments on the improved modelling for pneumatic artificial muscle actuators
Author: Peternel, L., Uğurlu, Regaip Barkan, Babic, J., Morimoto, J.

İsim	Assessments on the improved modelling for pneumatic artificial muscle actuators
Yazar	Peternel, L., Uğurlu, Regaip Barkan, Babic, J., Morimoto, J.
Basım Tarihi:	2015
Basım Yeri	- IEEE
Konu	Pneumatic artificial muscle, Modelling, Exoskeleton
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-146737509-2
Kayıt Numarası	bc94c51b-5813-4e55-84af-135ccdbc186a
Lokasyon	Mechanical Engineering
Tarih	2015
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification data. We used the measurement data acquired from the proposed approaches to identify different mathematical models of pneumatic muscles. These models specified the necessary muscle control pressure for the desired muscle force at a given muscle length value. We compared the performance between the different types of models identified by either of the calibration method. The identified model with the lowest validation error was implemented in pneumatic muscle control for an elbow exoskeleton system. As a result, the system exhibited satisfactory torque and position control tasks, adequately validating the proposed approach.
DOI	10.1109/ICAR.2015.7251430

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Assessments on the improved modelling for pneumatic artificial muscle actuators

Yazar Peternel, L., Uğurlu, Regaip Barkan, Babic, J., Morimoto, J.

Basım Tarihi 2015

Basım Yeri - IEEE

Konu Pneumatic artificial muscle, Modelling, Exoskeleton

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-146737509-2

Kayıt Numarası bc94c51b-5813-4e55-84af-135ccdbc186a

Lokasyon Mechanical Engineering

Tarih 2015

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification data. We used the measurement data acquired from the proposed approaches to identify different mathematical models of pneumatic muscles. These models specified the necessary muscle control pressure for the desired muscle force at a given muscle length value. We compared the performance between the different types of models identified by either of the calibration method. The identified model with the lowest validation error was implemented in pneumatic muscle control for an elbow exoskeleton system. As a result, the system exhibited satisfactory torque and position control tasks, adequately validating the proposed approach.

DOI 10.1109/ICAR.2015.7251430