Author
Peternel, L., Uğurlu, Regaip Barkan, Babic, J., Morimoto, J.
Publication Date
2015
Publication Place
-
IEEE
Subject
Pneumatic artificial muscle, Modelling, Exoskeleton
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-146737509-2
Record ID
bc94c51b-5813-4e55-84af-135ccdbc186a
Library Location
Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
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
