Design, Modeling, and Control of Pneumatic Artificial Muscles with Integrated Soft Sensing
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4985 - 4990, May, 2017
Abstract
Presented are techniques for designing, modeling, and control of reliable pneumatic artificial muscle actuators with integrated low profile sensors for position feedback. The sensor is fabricated through a three-dimensional manufacturing process based on a modified lathe approach for controlling viscous and viscoelastic materials as well as on direct writing of liquid metal. Next, a new precision pneumatic muscle design and its integration with the sensor is illustrated. A theoretical model and experimental characterization of the muscle-sensor package are presented with high correlation and repeatability. Finally, a position feedback sliding mode controller is implemented with a position error of <;0.9% of maximum muscle contraction.
BibTeX
@conference{King-2017-126278,author = {Jonathan P. King and Luis E. Valle and Nishant Pol and Yong-Lae Park},
title = {Design, Modeling, and Control of Pneumatic Artificial Muscles with Integrated Soft Sensing},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2017},
month = {May},
pages = {4985 - 4990},
keywords = {Muscles, Sensor phenomena and characterization, Resistance, Robot sensing systems, Electrical resistance measurement},
}
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