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1	Development and control of smart pneumatic mckibben muscles for soft robots Pan, Min, Hao, Zhe, Yuan, Chenggang, Plummer, Andrew 26 June 2020 (has links) 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. info:eu-repo/classification/ddc/620 ddc:620
2	Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses Murillo, Jaime 01 May 2013 (has links) 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. PAM Pneumatic Artificial Muscle High power density actuator Powered lower limb prostheses actuator Actuators for robotics and automation Biorobotics Light and powerful actuator Pneumatic actuator in aerospace industry Powered prostheses McKibben muscle Lightweight actuator Compliance Actuator Pneumatic Legged robots Rehabilitation Gait Exoskeleton Locomotion Aerospace actuator Bipedal walking robot
3	Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses Murillo, Jaime January 2013 (has links) 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. PAM Pneumatic Artificial Muscle High power density actuator Powered lower limb prostheses actuator Actuators for robotics and automation Biorobotics Light and powerful actuator Pneumatic actuator in aerospace industry Powered prostheses McKibben muscle Lightweight actuator Compliance Actuator Pneumatic Legged robots Rehabilitation Gait Exoskeleton Locomotion Aerospace actuator Bipedal walking robot

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