Return to search

McKibbenův pneumatický sval - modelování a použití v hmatovém rozhraní / Modelling and Using of McKibben Pneumatic Muscle in Haptic

This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:233458
Date January 2009
CreatorsKopečný, Lukáš
ContributorsJanotková, Eva, Nevřiva,, Pavel, Šolc, František
PublisherVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/doctoralThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

Page generated in 0.0018 seconds