Control of Multiple McKibben Pneumatic Actuators Using Small Solenoid Valves and Dynamic Quantizer

• DOI: 10.20965/jrm.2025.p0123
• Publication Date: 2025-02-19T15:02:07Z
• Authors: Yasuhiro Sugimoto; ; Keisuke Naniwa; Daisuke Nakanishi; Koichi Osuka
• Keywords: Pneumatic actuator; Solenoid; Solenoid valve

McKibben pneumatic actuators (MPAs) are soft that exert tension by inflating a rubber tube with compressed air. Although electropneumatic regulators can control air pressure, their cost and size limit applications. This study employs dynamic quantizer to an MPA using small solenoid valve only open or close, as opposed regulator. A is type of converts continuous signals into discrete signals. Our previous confirmed the length be achieved quantizer. As exerts force in direction contraction, multiple MPAs must combined when them robot actuators. demonstrates feasible, even employed. We focused on pendulum driven two achieve angle-tracking dynamic-quantizer-based method. The results numerical simulations experimental tests confirm angle controlled