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
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;
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
DOI :
10.1109/RAMECH.2008.4681431
