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Multi-sensorized pneumatic artificial muscle yarns
Chemical Engineering Journal, 2022 Multi-sensorized pneumatic artificial muscle ...
Chiyu Fu +2 more
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Twitching Control for Pneumatic Artificial Muscle Actuators [PDF]
2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2023 In this work we present the design and development of a twitching control system for pneumatic artificial muscle (PAM) actuators. In this system, a shape memory alloy (SMA) poppet valve is used to control the flow of air pressurizing the inner bladder of
Piotr A. Bogdan +3 more
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Transversal Pneumatic Artificial Muscles
2015 10th International Workshop on Robot Motion and Control (RoMoCo), 2015The paper presents an innovative construction of Pneumatic Artificial Muscles. Due to transverse deformation of the muscle, it allows obtaining a linear displacement by changing a diameter of a muscle. The new type of drive, which is represented by this solution, can be used in a robot designed for exploration of a human intestine.
Katarzyna Koter +2 more
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APAM: Antagonistic Pneumatic Artificial Muscle
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018We present a pneumatic actuator capable of changing length by 1000%, applying both pushing and pulling forces, and independently modulating its length and stiffness. These characteristics are enabled by individually addressable internal and external chambers that work antagonistically against one another.
Nathan S. Usevitch +2 more
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The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles
Autonomous Robots, 2005This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable passive behavior, meaning the stiffness of the actuator can be changed on-line.
Björn Verrelst +5 more
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A skeletal framework artificial hand actuated by pneumatic artificial muscles
Advanced Robotics, 1998Describes a method and a process for developing a soft artificial hand similar to a real human hand and its small-size soft actuator. For the soft actuator, we took a pneumatic artificial muscle and succeeded in reducing it to a diameter of 3.5 mm. The pneumatic artificial muscle allows the artificial hand not only to move softly and powerfully by ...
Yong Kwun Lee, Isao Shimoyama
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Control of Artificial Pneumatic Muscle for Robot Application
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There has been many researches to control robot actuated by pneumatic muscles, but conventional theories are hard to apply on real robot plants because of their assumptions and disregards of pneumatic muscle's physical aspects like ...
Tae-Yong Choi +2 more
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Nonparametric control algorithms for a pneumatic artificial muscle
Expert Systems with Applications, 2012Highlights? Implementation of a self-organizing fuzzy controller for position and force control. ? Controller is experimentally evaluated alongside a PD and fixed rule fuzzy controller. ? Two different pneumatic valves are compared to determine its influence. ? SOFC outperforms the PD and FCC in standard control tests.
Mervin Chandrapal +3 more
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Mathematical model of rubberless pneumatic artificial muscle
2011 IEEE International Conference on Robotics and Biomimetics, 2011This paper describes a mathematical model of a rubberless pneumatic artificial muscle. This artificial muscle has characteristics resembling those of a McKibben-type artificial muscle. Because of its exclusion of rubber material, however, the rubberless artificial muscle can be driven by low pressure.
Takanori Ogasawara +3 more
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Comparison of contractile and extensile pneumatic artificial muscles
Smart Materials and Structures, 2016Pneumatic artificial muscles (PAMs) are used in robotic and prosthetic applications due to their high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors.
Thomas E. Pillsbury +2 more
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