BACKGROUND: Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due its highly nonlinear properties. OBJECTIVE: This paper deals with of P

Pneumatic Muscle Actuator (PMA) has a broad application prospect in soft robotics. However, PMA highly nonlinear and hysteretic properties among force, displacement, pressure, which lead to difficulty accurate position control. A phenomenological model is developed portray the behavior of PMA. This consists linear component force. The latter described by Duhem model. An experimental apparatus built up sets data are acquired. Based on data, parameters identified. Validation performed. Then...

Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of system its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior structure. The loop contractile force displacement dissolved into linear component component. Relationship pressure within parameters discussed. A single degree freedom manipulator actuated PMA designed. On...

With the development of robotics, intelligent neuroprosthesis for amputees is more concerned. Research robot controlling based on electrocardiogram, electromyography, and electroencephalogram a hot spot. In medical research, electrode arrays are commonly used as sensors surface electromyograms. Although these collect accurate data sampling at higher frequencies, they have no advantage in terms portability ease use. recent years, there also some small electromyography research. The sensor...

The current reliance on manual rescue is inefficient, and lightweight, highly flexible, intelligent robots need to be investigated. Global seismic disasters occur often, jobs are defined by tight timetables high functional intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation in various positions, common digging handling conditions dynamically simulated ADAMS. A finite element analysis then...

This paper describes the behavior of phosphorus during gasification dewatered sewage sludge in supercritical water with an alkaline additive. Dewatered was treated autoclave at 400 °C for 30 min. Without additives, is enriched a solid residue. The transferred from residue to liquid product, and content product increased 41.0 2214.5 mg/L presence 2–8 wt % additives. pathway under catalytic condition proposed. Analysis distribution forms residue, XRD results indicate that additive combines...

Rehabilitation robots are playing an important role in restoring movement ability of hemiplegic patients. However, most these adopt motors as actuators. Considering human body is a flexible organism, rigid lack compliance when getting touch with This paper designs ankle rehabilitation robot by employing pneumatic muscle actuators which soft and have similar biological muscles. Analysis motion characteristics performed, relationship between angle torque acquired from experiment studied....

Jumping robots can be widely applied in archeology, interstellar probe, antiterrorism, and resource exploration. This article adopts the frog as bionic object briefly analyzes biological features jumping movements a complete sequence of frog. Then an equivalent six-bar mechanism model depicting movement is built up, optimizing simulation performed. On basis optimized results, robot designed prototype manufactured. An adaptive cascade controller proposed to control robot....

Pneumatic muscle actuators (PMAs) own compliant characteristics and are suitable for use in rehabilitation equipment. This paper introduces a robot driven by PMAs devised the Rehabilitation Medical Robot Laboratory. Considering high nonlinearities inside PMAs, single neuron tuned PID controller is carefully designed. Experimental setup built up trials performed. Results demonstrate proposed advanced algorithm can achieve better capacity position tracking than conventional controller.

The jumping robot has been a hot research field due to its prominent obstacle‐climbing ability and excellent capacity in terrain adaptation autonomous movement. However, huge impact between the ground when landing may cause structure damage, unbalanced movement, even system crash. Therefore, trajectory planning of process great challenge robotic research, especially for with varying underactuated redundant joints. An intermittent quadruped driven by pneumatic muscle actuators (PMAs) owning...

Pneumatic muscle actuators (PMAs) own excellent compliance and a high power‐to‐weight ratio have been widely used in bionic robots rehabilitated robots. However, the nonlinear characteristics of PMAs due to inherent construction pneumatic driving principle bring great challenges applications acquired accurately modeling controlling. To tackle tricky problem, single PMA mass setup is constructed, back propagation neural network (BPNN) employed identify dynamics setup. An offline model built...

An enhanced model is proposed to describe static property of commercial braided pneumatic muscle actuators by including several important influencing factors. Elasticity elastomer tube considered and Ogden strain energy function employed its density. During pressurized process, small deformation fiber occurs calculated using force balancing principle. Frictional forces within muscles are studied, which consist friction braid that between bladder braid. Isobaric experiments performed results...

Titanium carbide alumina (TiC-Al2O3) binary ceramics were fabricated and the distributions of TiC within ceramic composites mattered most dielectric performances electrical conductivity. There have taken on a low frequency plasmonic state when particles connected with each other formed three-dimensional conductive pathway Al2O3 matrix, thus plasma-like negative permittivity appeared. The conduction mechanism changed from hopping to metal-like conduction. reactance spectrum suggested media...

Pneumatic muscle actuators (PMAs) have been attracting attention in recent years due to characteristics of natural compliance, high power output, lightweight, and low cost. Various apparatus robots are developed by adopting PMAs kinds advanced controlling strategies proposed improve achieving accuracy. However, many the models very complex not suitable for actual application. In this paper, we devise a single PMA driven setup build up empirical quartic polynomial fitting sampled...

A 10 kV distribution network is a crucial piece of infrastructure to guarantee enterprises’ and households’ access electricity. Stripping cables one many power grid maintenance procedures that are now quickly expanding. However, typical cable-stripping manual harmful workers. Although numerous automated solutions for have been created, none them focus on cable stripping, most large dimensions multi-functions. In this paper, new robot the system introduced. The design live working appropriate...

Abstract A 10 kV distribution network is critical for ensuring power supply to residents and factories. The number of maintenance operations rapidly increasing, aerial cable stripping a significant branch these routine maintenances. High-voltage stripping, on the other hand, mostly done manually, which inefficient poses serious security risks. As result, this paper proposes an automatic wire robot use in grid. mechanical structure designed installation insulating rod based working...

This paper presents a jumping four-bar mechanism using pneumatic muscle actuators. The has three joints and each one is powered by artificial muscle; restoring action achieved contracting force spring respectively. Kinematic analysis performed in landing airborne phase Vertical simulation according to the prototype parameters results demonstrate kinematic show torques supplied muscles can meet requirement.