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Experimental Research of Force Feedback Dataglove Based on pneumatic artificial muscle

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 489-495页

作者： SUN Zhongsheng BAO Gang LI Xiaoning School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 China pneumatic Center Harbin Institute of Technology Harbin 150008 China

Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.

关键词： virtual reality dataglove force feedback pneumatic artificial muscle

Mathematical Modeling of pneumatic artificial muscle Actuation via Hydrogen Driving Metal Hydride-LaNi5

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Journal of Bionic Engineering 2012年第1期9卷 110-118页

作者： Thananchai Leephakpreeda School of Manufacturing Systems and Mechanical Engineering Sirindhorn International Institute of Technology Thammasat University P.O. Box 22 Thammasat-Rangsit Post Office Pathumthani 12121 Thailand

Quantitative understanding of mechanical actuation of intricate pneumatic artificial muscle （PAM） actuators is technically required in control system design for effective real-time implementation. This paper presents mathematical modeling of the PAM driven by hydrogen-gas pressure due to absorption and desorption of metal hydride. Empirical models of both mechanical actuation of industrial PAM and chemical reaction of the metal hydride-LaNi5 are derived systematically where their interac- tions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM actuator （PAM and hydriding/dehydriding-reaction bed）. Simulation studies of mechanical actuation under various loads are conducted so as to present dynamic responses of the PAM actuators. From the promising results, it is intriguing that the heat input for the PAM actuator can be supplied to, or pumped from the reaction bed, in such a way that absorption and desorption of hydrogen gas take place, respectively, in controlling the pressure of hydrogen gas within the PAM actuator. Accordingly, this manipulation results in desired mechanical actuation of the PAM actuator in practical uses.

关键词： mathematical model pneumatic artificial muscle metal hydride storage

Design and test of pneumatic artificial muscle driven variable trailing-edge camber wing

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Journal of Harbin Institute of Technology(New Series) 2012年第4期19卷 99-103页

作者：尹维龙田东奎陈以金 Centre for Composite Materials and Structures Harbin Institute of Technology

A variable camber wing driven by pneumatic artificial muscles is developed in this paper. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed and the relationship between the static output force and the air pressure is investigated. Experimental results show that the static output force of pneumatic artificial muscle decreases nonlinearly with the increase of contraction ratio. Secondly, the model of variable camber wing driven by pneumatic artificial muscles is manufactured to validate the variable camber concept. Finally, wind tunnel tests are conducted in the low speed wind tunnel. It is found that the wing camber increases with the increase of air pressure. When the air pressure of PAMs is 0.4 MPa and 0.5 MPa, the tip displacement of the trailing-edge is 3 mm and 5 mm, respectively. The lift of aerofoil with flexible trailing-edge increases by 87% at AOA of 5°.

关键词： variable trailing-edge camber pneumatic artificial muscle flexible skin wind tunnel test

Ultralong Stretchable Soft Actuator(US2A):Design,Modeling and Application

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 280-291页

作者： Wenbiao Wang Yunfei Zhu Shibo Cai Guanjun Bao Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of EducationZhejiang University of TechnologyHangzhou310014China Beijing Institute of Spacecraft Environment Engineering China Academy of Space TechnologyBeijing100094China

Actuator plays a significant role in soft robotics.This paper proposed an ultralong stretchable soft actuator(US2A)with a variable and sizeable maximum elongation.The US2A is composed of a silicone rubber tube and a bellows woven sleeve.The maximal extension can be conveniently regulated by just adjusting the wrinkles’initial angle of the bellows woven sleeve.The kinematics of US2A could be obtained by geometrically analyzing the structure of the bellows woven sleeve when the silicone rubber tube is inflated.Based on the principle of virtual work,the actuating models have been established:the pressure-elongation model and the pressure-force model.These models reflect the influence of the silicone tube’s shell thickness and material properties on the pneumatic muscle’s performance,which facilitates the optimal design of US2A for various working conditions.The experimental results showed that the maximum elongation of the US2A prototype is 257%,and the effective elongation could be variably regulated in the range of 0 and 257%.The proposed models were also verified by pressure-elongation and pressure-force experiments,with an average error of 5%and 2.5%,respectively.Finally,based on the US2A,we designed a pneumatic rehabilitation glove,soft arm robot,and rigid-soft coupling continuous robot,which further verified the feasibility of US2A as a soft driving component.

关键词： Soft robotics Soft actuator pneumatic artificial muscle Modeling

Design,Characterization and Optimization of Multi-directional Bending pneumatic artificial muscles

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Journal of Bionic Engineering 2021年第6期18卷 1358-1368页

作者： Wei Xiao Dean Hu Weixiong Chen Gang Yang Xu Han State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082People’s Republic of China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of EducationHunan UniversityChangsha410082People’s Republic of China School of Mechanical Engineering Hebei University of TechnologyTianjin300401People’s Republic of China

Bending pneumatic artificial muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending pneumatic artificial muscle(MBPAM)that can bend in eight directions by changing the pressurized chambers.The maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,respectively.Additionally,the Finite Element Model(FEM)is established to further investigate the performance.The experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output force.Moreover,the effects of parameters on the performance are studied with the validated FEM.The results reveal that the amplitude of waves and the thickness of the base layer can be optimized.Thus,multi-objective optimization is performed to improve the bending performance of the MBPAM.The optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output force.Finally,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.

关键词： pneumatic artificial muscle Multi-directional bending Soft robots Parameter optimization

A method for the length-pressure hysteresis modeling of pneumatic artificial muscles

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Science China(Technological Sciences) 2020年第5期63卷 829-837页

作者： XIE ShengLong LIU HaiTao &WANG Yu School of Mechanical and Electrical Engineering China Jiliang UniversityHangzhou 310018China Key Laboratory of Mechanism Theory and Equipment Design Ministry of EducationTianjin UniversityTianjin 300072China

This paper presents a method for the length-pressure hysteresis modeling of pneumatic artificial muscles(PAMs)by using a modified generalized Prandtl-Ishlinskii(GPI)model.Different from the approaches for establishing the GPI models by replacing the linear envelope functions of operators with hyperbolic tangent and exponential envelop functions,the proposed model is derived by modifying the envelope functions of operators into arc tangent functions,which shows an improvement in the modeling accuracy.The effectiveness of the proposed model is verified by the experimental data of a PAM.Furthermore,its capacity in capturing the hysteresis relationship between length and pressure is testified by giving different input pressure signals.With regard to the computational efficiency,the influence of the number of operators on the modeling accuracy is discussed.Furthermore,the inversion of the GPI model is derived.Its capability of compensating the hysteresis nonlinearities is confirmed via the simulation and experimental study.

关键词： modified generalized Prandtl-Ishlinskii model pneumatic artificial muscle hysteresis envelope function control

Active Force with Fuzzy Logic Control of a Two-Link Arm Driven by pneumatic artificial muscles

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Journal of Bionic Engineering 2011年第4期8卷 474-484页

作者： H. Jahanabadi M. Mailah M. Z. Md Zain H. M. Hooi Department of System Dynamics and Control Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 UTM Johor Bahru Skudai Johor Malaysia

In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of pneumatic artificial muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.

关键词： pneumatic artificial muscle active force control fuzzy estimator hardware-in-the-loop simulation

Modeling and Position-orientation Measurement and Control of Flexible pneumatic Spherical Joint

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Modeling and Position-orientation Measurement and Control of...