Reverse pneumatic artificial muscles (rPAMs): Modeling, integration, and control.

ABSTRACT: Despite offering many advantages over traditional rigid actuators, soft pneumatic actuators suffer from a lack of comprehensive, computationally efficient models and precise embedded control schemes without bulky flow-control valves and extensive computer hardware. In this article, we consider an inexpensive and reliable soft linear actuator, called the reverse pneumatic artificial muscle (rPAM), which consists of silicone rubber that is radially constrained by symmetrical double-helix threading. We describe analytical and numerical static models of this actuator, and compare their performance against experimental results. To study the application of rPAMs to operate underlying kinematic linkage skeletons, we consider a single degree-of-freedom revolute joint that is driven antagonisticall

SUBMITTER: Skorina EH 

PROVIDER: S-EPMC6193585 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature