Browsing Mechanical Engineering by Subject "Pneumatic artificial muscle"
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Assessments on the improved modelling for pneumatic artificial muscle actuators
(IEEE, 2015)In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ... -
Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
(IEEE, 2023)This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. ... -
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
(IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ...
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