A New Dynamic Modelling Algorithm for Pneumatic Muscle Actuators

Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and buil...

Full description

Saved in:
Bibliographic Details
Published inIntelligent Robotics and Applications pp. 432 - 440
Main Authors Cao, Jinghui, Xie, Sheng Quan, Zhang, Mingming, Das, Raj
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing 2014
SeriesLecture Notes in Computer Science
Subjects
Pneumatic Muscle Actuator
Rehabilitation Robotics
Wearable Robotics
Online AccessGet full text
ISBN3319139622
9783319139623
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-13963-0_44

Cover

Abstract Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and built to investigate PMA’s dynamics. The device automates the experimental process by providing motions and recording pressure, force, position and velocity data. The gathered experimental data enable the authors to validate a previous PMA dynamic model. Meanwhile, new models are developed from the original model. Statistical analysis proves that the new models can better represent the PMA dynamics during the experiments.
AbstractList Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic modelling of PMAs, which is important to control performance, has not been researched extensively. Hence, a testing device was designed and built to investigate PMA’s dynamics. The device automates the experimental process by providing motions and recording pressure, force, position and velocity data. The gathered experimental data enable the authors to validate a previous PMA dynamic model. Meanwhile, new models are developed from the original model. Statistical analysis proves that the new models can better represent the PMA dynamics during the experiments.
Author Cao, Jinghui
Xie, Sheng Quan
Das, Raj
Zhang, Mingming
Author_xml – sequence: 1
  givenname: Jinghui
  surname: Cao
  fullname: Cao, Jinghui
  email: jcao027@aucklanduni.ac.nz
  organization: Department of Mechanical Engineering, The University of Auckland, Auckland City, New Zealand
– sequence: 2
  givenname: Sheng Quan
  surname: Xie
  fullname: Xie, Sheng Quan
  email: s.xie@auckland.ac.nz
  organization: State Key Laboratory of Digital Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
– sequence: 3
  givenname: Mingming
  surname: Zhang
  fullname: Zhang, Mingming
  email: mzha130@aucklanduni.ac.nz
  organization: Department of Mechanical Engineering, The University of Auckland, Auckland City, New Zealand
– sequence: 4
  givenname: Raj
  surname: Das
  fullname: Das, Raj
  email: r.das@auckland.ac.nz
  organization: Department of Mechanical Engineering, The University of Auckland, Auckland City, New Zealand
BookMark eNpFkMtOwzAQRQ0UibT0D1j4BwzjTBzbO6LylMpjAWvLiZ0SSGMUJ0L8PWlBYnWlc0ejmTMnsy50npAzDuccQF5oqRgy5Jpx1DkyMFl2QOY4kT2AQ5LwnHOGmOmj_yJNZyQBhJRpmeEJWcb4DgAcVS4EJuSyoI_-i159d3bbVPQhON-2TbehRbsJfTO8bWkdevrc-XFrh93EGKvW06IaRjuEPp6S49q20S__ckFeb65fVnds_XR7vyrWLHKtBlZLr7zIbW61A5fV3ApZOeW0LZVWAq0UDrNagOWqVpWHUlVlKoTwDiRIjguS_u6Nn_10n-9NGcJHNBzMTpCZBBk009dm78PsBOEPArRV4A
ContentType Book Chapter
Copyright Springer International Publishing Switzerland 2014
Copyright_xml – notice: Springer International Publishing Switzerland 2014
DOI 10.1007/978-3-319-13963-0_44
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Computer Science
EISBN 3319139630
9783319139630
EISSN 1611-3349
Editor Liu, Honghai
Zhang, Xianmin
Chen, Zhong
Wang, Nianfeng
Editor_xml – sequence: 1
  givenname: Xianmin
  surname: Zhang
  fullname: Zhang, Xianmin
  email: zhangxm@scut.edu.cn
– sequence: 2
  givenname: Honghai
  surname: Liu
  fullname: Liu, Honghai
  email: honghai.liu@icloud.com
– sequence: 3
  givenname: Zhong
  surname: Chen
  fullname: Chen, Zhong
  email: mezhchen@scut.edu.cn
– sequence: 4
  givenname: Nianfeng
  surname: Wang
  fullname: Wang, Nianfeng
  email: menfwang@scut.edu.cn
EndPage 440
GroupedDBID -DT
-GH
-~X
1SB
29L
2HA
2HV
5QI
875
AASHB
ABMNI
ACGFS
ADCXD
AEFIE
ALMA_UNASSIGNED_HOLDINGS
EJD
F5P
FEDTE
HVGLF
LAS
LDH
P2P
RNI
RSU
SVGTG
VI1
~02
ID FETCH-LOGICAL-s198t-f7e8e56a6a9d0d4f1a57cd8d9ab89853a75d34f50a18f8ce0b8cb2555ed070713
ISBN 3319139622
9783319139623
ISSN 0302-9743
IngestDate Wed Sep 17 04:01:38 EDT 2025
IsPeerReviewed true
IsScholarly true
Language English
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-s198t-f7e8e56a6a9d0d4f1a57cd8d9ab89853a75d34f50a18f8ce0b8cb2555ed070713
PageCount 9
ParticipantIDs springer_books_10_1007_978_3_319_13963_0_44
PublicationCentury 2000
PublicationDate 2014
PublicationDateYYYYMMDD 2014-01-01
PublicationDate_xml – year: 2014
  text: 2014
PublicationDecade 2010
PublicationPlace Cham
PublicationPlace_xml – name: Cham
PublicationSeriesSubtitle Lecture Notes in Artificial Intelligence
PublicationSeriesTitle Lecture Notes in Computer Science
PublicationSubtitle 7th International Conference, ICIRA 2014, Guangzhou, China, December 17-20, 2014, Proceedings, Part II
PublicationTitle Intelligent Robotics and Applications
PublicationYear 2014
Publisher Springer International Publishing
Publisher_xml – name: Springer International Publishing
RelatedPersons Kleinberg, Jon M.
Mattern, Friedemann
Nierstrasz, Oscar
Steffen, Bernhard
Kittler, Josef
Weikum, Gerhard
Naor, Moni
Mitchell, John C.
Terzopoulos, Demetri
Kobsa, Alfred
Pandu Rangan, C.
Kanade, Takeo
Hutchison, David
Tygar, Doug
RelatedPersons_xml – sequence: 1
  givenname: David
  surname: Hutchison
  fullname: Hutchison, David
  organization: Lancaster University, Lancaster, UK
– sequence: 2
  givenname: Takeo
  surname: Kanade
  fullname: Kanade, Takeo
  organization: Carnegie Mellon University, Pittsburgh, USA
– sequence: 3
  givenname: Josef
  surname: Kittler
  fullname: Kittler, Josef
  organization: University of Surrey, Guildford, UK
– sequence: 4
  givenname: Jon M.
  surname: Kleinberg
  fullname: Kleinberg, Jon M.
  organization: Cornell University, Ithaca, USA
– sequence: 5
  givenname: Alfred
  surname: Kobsa
  fullname: Kobsa, Alfred
  organization: University of California, Irvine, USA
– sequence: 6
  givenname: Friedemann
  surname: Mattern
  fullname: Mattern, Friedemann
  organization: ETH Zurich, Zurich, Switzerland
– sequence: 7
  givenname: John C.
  surname: Mitchell
  fullname: Mitchell, John C.
  organization: Stanford University, Stanford, USA
– sequence: 8
  givenname: Moni
  surname: Naor
  fullname: Naor, Moni
  organization: Weizmann Institute of Science, Rehovot, Israel
– sequence: 9
  givenname: Oscar
  surname: Nierstrasz
  fullname: Nierstrasz, Oscar
  organization: University of Bern, Bern, Switzerland
– sequence: 10
  givenname: C.
  surname: Pandu Rangan
  fullname: Pandu Rangan, C.
  organization: Indian Institute of Technology, Madras, India
– sequence: 11
  givenname: Bernhard
  surname: Steffen
  fullname: Steffen, Bernhard
  organization: TU Dortmund University, Dortmund, Germany
– sequence: 12
  givenname: Demetri
  surname: Terzopoulos
  fullname: Terzopoulos, Demetri
  organization: University of California, Los Angeles, USA
– sequence: 13
  givenname: Doug
  surname: Tygar
  fullname: Tygar, Doug
  organization: University of California, Berkeley, USA
– sequence: 14
  givenname: Gerhard
  surname: Weikum
  fullname: Weikum, Gerhard
  organization: Max-Planck Institute of Computer Science, Saarbrücken, Germany
SSID ssj0001386553
ssj0002792
Score 2.0142577
Snippet Pneumatic muscle actuators (PMAs) have been widely used in wearable robots due to its high power to weight ratio and intrinsic compliance. However, dynamic...
SourceID springer
SourceType Publisher
StartPage 432
SubjectTerms Pneumatic Muscle Actuator
Rehabilitation Robotics
Wearable Robotics
Title A New Dynamic Modelling Algorithm for Pneumatic Muscle Actuators
URI http://link.springer.com/10.1007/978-3-319-13963-0_44
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1Lb9QwELa2ywU4AAXEWz5wWwWtN87rgEQERVXVrZBo0d4iO3a6rWhW6iYX_gJ_mplM7KTbXsolWlnZjTOfdzyexzeMfYztYlElCxukVZkEMjMy0ErYINQ6VpWWRnTlYsuT-PBMHq2i1WTyd5S11Db6U_nnzrqS_0EVxgBXrJK9B7L-R2EAPgO-cAWE4bpj_N50s_p0QSLTbDA_euP5lvNRTHoIMVCEBTaqdXvhRlcUnPi5tvU5pnf6heLdyEv4wpXb3TqHNnlm1OV4reVdmuQ3am7ftVcjpu_89_nm-qJZX3XJjD9q2xJB7LLdwmqd5Vi8gt1-SLUh5fL283Ef1DjZNF2u2Mz1nXBqaOynEHLHT-H8lDuezsHZduNgG4JmANs0plpkV-AFyhuOPzRkSV_HyMIYEutpr4Nl7zCl7VwSG9StnWKcHIKFXPi0MJgXUu6xPZjAlD3ID46Ofw0OO-yOGg3bPDIvUoiKZoWFQ27WC6J2Gt5iVLR51yNvheE76-b0KXuMFS8cS1FAaM_YxNb77ImTO-_lvs8ejcgrn7MvOQfUeY8696hzjzoH1LlHnRPq3KP-gp19Pzj9ehj0_TiCrcjSJqgSm9ooVrHKzNzISqgoKU1qMqXTDMw-lUQmlFU0VyKt0tLOdVpqOLJG1iCplAhfsmm9qe0rxk0I92ZlJYxM0KWQCYXGa6YjJcHAVK_ZzAmkwH_YtnD02iC-IixAfEUnvgLF9-Zed79lD4f1-Y5Nm-vWvgfLstEfesz_ARulb7E
linkProvider Library Specific Holdings
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.title=Intelligent+Robotics+and+Applications&rft.au=Cao%2C+Jinghui&rft.au=Xie%2C+Sheng+Quan&rft.au=Zhang%2C+Mingming&rft.au=Das%2C+Raj&rft.atitle=A+New+Dynamic+Modelling+Algorithm+for+Pneumatic+Muscle+Actuators&rft.series=Lecture+Notes+in+Computer+Science&rft.date=2014-01-01&rft.pub=Springer+International+Publishing&rft.isbn=9783319139623&rft.issn=0302-9743&rft.eissn=1611-3349&rft.spage=432&rft.epage=440&rft_id=info:doi/10.1007%2F978-3-319-13963-0_44
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0302-9743&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0302-9743&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0302-9743&client=summon