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- Title
Characterization and Joint Control Study of Pneumatic Artificial Muscles.
- Authors
Mi, Juncheng; Huang, Guoqin; Yu, Jin
- Abstract
Physical dynamic characteristics and control studies were conducted for pneumatic artificial muscle (PAM), the core component of the drive of lower limb rehabilitation robots. Firstly, a static model and a dynamic model of the pneumatic artificial muscle were established. Then a test bench was designed to perform dynamic characteristic test simulations and experiments. After that, the pneumatic artificial muscle test bench was designed to simulate and test its dynamic characteristics. Finally, a typical PID (Proportional Integral Derivative) controller was built to perform control simulations and step control experiments for the pneumatic artificial muscle. Experiments show that the PID can achieve stable and accurate tracking of the signal and meet the application requirements of PAM.
- Subjects
ARTIFICIAL muscles; PNEUMATIC control; DYNAMIC testing
- Publication
Applied Sciences (2076-3417), 2023, Vol 13, Issue 2, p1075
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app13021075