Pneumatic muscle actuators: musculature for an anthropomorphic robot arm

This paper considers the development of a bi-muscular pneumatic muscle actuator (PMA) system, for use on a 7-DOF anthropomorphic robot arm. Initially this actuator system is put into context with regard to other pneumatic-based designs. The modelling of the PMA is then considered to show the feasibility of the system for good control. The control of the system is explored via adaptive pole-placement techniques for position and PID controllers. Experimental results indicate that accurate position control of ±0.5° is possible at operating pressures up to 800 kPa. Contractile forces in excess of 1000 N have been produced from a device weighing less than 50 g. These devices have been operated for periods of up to 12 months at 4-8hrs/day showing good reliability and robustness