Design, modeling, and control of pneumatic artificial muscles with integrated soft sensing
Jonathan P. King, Luis E. Valle, Nishant Pol, Yong-Lae Park
Abstract
Presented are techniques for designing, modeling, and control of reliable pneumatic artificial muscle actuators with integrated low profile sensors for position feedback. The sensor is fabricated through a three-dimensional manufacturing process based on a modified lathe approach for controlling viscous and viscoelastic materials as well as on direct writing of liquid metal. Next, a new precision pneumatic muscle design and its integration with the sensor is illustrated. A theoretical model and experimental characterization of the muscle-sensor package are presented with high correlation and repeatability. Finally, a position feedback sliding mode controller is implemented with a position error of <0.9% of maximum muscle contraction.
BibTeX
@inproceedings{icra2017_designmodelingan,
title = {Design, modeling, and control of pneumatic artificial muscles with integrated soft sensing},
author = {Jonathan P. King and Luis E. Valle and Nishant Pol and Yong-Lae Park},
booktitle = {ICRA 2017},
year = {2017}
}