DocumentCode
3484138
Title
Modeling Hysteresis in Pleated Pneumatic Artificial Muscles
Author
Van Damme, M. ; Beyl, P. ; Vanderborght, B. ; Van Ham, R. ; Vanderniepen, I. ; Versluys, R. ; Daerden, F. ; Lefeber, D.
Author_Institution
Robot.&Multibody Mech. Res. Group, Vrije Univ. Brussel, Brussels
fYear
2008
fDate
21-24 Sept. 2008
Firstpage
471
Lastpage
476
Abstract
Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in pleated pneumatic artificial muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.
Keywords
artificial organs; pneumatic actuators; Preisach based hysteresis model; gauge pressure measurement; modeling hysteresis; pleated pneumatic artificial muscle actuators; Biomembranes; Force measurement; Hysteresis; Legged locomotion; Mechanical variables measurement; Muscles; Pneumatic actuators; Pressure measurement; Robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4244-1675-2
Electronic_ISBN
978-1-4244-1676-9
Type
conf
DOI
10.1109/RAMECH.2008.4681431
Filename
4681431
Link To Document