DocumentCode :
3245711
Title :
Pressure control valve for McKibben artificial muscle actuators with miniaturized unconstrained pneumatic on/off valves
Author :
Jien, Sumadi ; Hirai, Shinichi ; Ogawa, Yoichiro ; Ito, Masahiko ; Honda, Kenshin
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear :
2009
fDate :
14-17 July 2009
Firstpage :
1383
Lastpage :
1388
Abstract :
The increased interest in wearable robots for rehabilitation and human assistance has also increased demands for lightweight and elastic actuators with inherent compliance for safe human-robot interactions. Although braided type McKibben actuators are frequently used as artificial muscles for robotic applications, they have two drawbacks. First, the weight and size of the necessary compressor and control valves limit the applications of these actuators as autonomous robots. Second, the control accuracy of these actuators is decreased by long tube connections that often cause pressure oscillations. This paper describes a pressure tracking controlled servo drive, using a McKibben actuator and miniaturized unconstrained on-off valves, which are smaller in size and easier to implement. The properties of unconstrained on-off valves are discussed, and different pressure control algorithms are compared. The pressure tracking control was also tested experimentally for its ability to track irregular waveforms at various pressure levels.
Keywords :
human-robot interaction; on-off control; pneumatic actuators; pressure control; servomotors; valves; McKibben actuator; artificial muscle actuator; human-robot interactions; on-off valves; pneumatic valves; pressure control; pressure tracking control; pressure tracking controlled servo drive; robotic application; wearable robot; Human robot interaction; Muscles; Pneumatic actuators; Pressure control; Rehabilitation robotics; Robot control; Servomechanisms; Size control; Testing; Valves;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
Type :
conf
DOI :
10.1109/AIM.2009.5229882
Filename :
5229882
Link To Document :
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