The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Improved modelling and assessment of pneumatic muscle actuators
Abstract
Traditional robotic/mechatronic design has successfully exploited the attributes of heavy mechanical systems engineering, but future scientific trends suggest a need for technology that will emulate natural systems. Among the most pressing of the requirements are actuation systems that can interact in a safer and more natural way. Pneumatic technology has many of the compliance forms needed for this softer interaction and a number of new systems based on McKibben muscles have been developed in recent years. In this paper a new model of operation of pneumatic muscle systems is developed. In particular, the model considers the distortion effects at the termination nodes and the radial pressure loss due to rubber elasticity. The new model is compared experimentation on a very large actuator and shows how this new model improves the assessment of forces and displacement that can be achieved by the actuator. The new model is compared against previous systems models.
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Citations
Cites
Measurement and modeling of McKibben pneumatic artificial muscles
Chou, C.-P., & Hannaford, B. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.481753 · Cited by 1,589
Cited by
Towards a soft pneumatic glove for hand rehabilitation
Polygerinos, P., Lyne, S., Wang, Z., Nicolini, L. F., Mosadegh, B., Whitesides, G. M., & Walsh, C. J. (2013) · 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2013.6696549 · Cited by 527
Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training
Tsagarakis, N. G., & Caldwell, D. G. (2003) · Autonomous Robots · doi:10.1023/a:1024484615192 · Cited by 335
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Metadata
- Authors
- Tsagarakis, N., & Caldwell, D. G.
- Venue
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- Publisher
- IEEE
- Published
- 2002-11-07
- Volume
- 4
- Pages
- 3641-3646
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2158435142
- Cited by
- 185
- References
- 1
- FWCI
- 7.61
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Tsagarakis, N., & Caldwell, D. G. (2002). Improved modelling and assessment of pneumatic muscle actuators. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). https://doi.org/10.1109/robot.2000.845299
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
