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dc.contributor.authorPeternel, L.
dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorBabic, J.
dc.contributor.authorMorimoto, J.
dc.date.accessioned2016-02-17T11:05:45Z
dc.date.available2016-02-17T11:05:45Z
dc.date.issued2015
dc.identifier.isbn978-146737509-2
dc.identifier.urihttp://hdl.handle.net/10679/2875
dc.identifier.urihttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7251430
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.
dc.description.abstractIn 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 data. We used the measurement data acquired from the proposed approaches to identify different mathematical models of pneumatic muscles. These models specified the necessary muscle control pressure for the desired muscle force at a given muscle length value. We compared the performance between the different types of models identified by either of the calibration method. The identified model with the lowest validation error was implemented in pneumatic muscle control for an elbow exoskeleton system. As a result, the system exhibited satisfactory torque and position control tasks, adequately validating the proposed approach.
dc.description.sponsorshipJapanese MEXT SRPBS ; European Commission ; Japanese MIC ; MEXT KAKENHI ; JST-SICP ; MIC-SCOPE ; JSPS-MIZS Japan-Slovenia Research Cooperative Program ; ImPACT Program of Council for Science, Technology and Innovation ; NEDO ; Slovene Human Resources Development and Scholarship Fund.
dc.language.isoengen_US
dc.publisherIEEE
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/600716
dc.relation.ispartofIEEE International Conference on Advanced Robotics (ICAR)
dc.rightsrestrictedAccess
dc.titleAssessments on the improved modelling for pneumatic artificial muscle actuatorsen_US
dc.typeConference paperen_US
dc.peerreviewedyes
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.startpage34
dc.identifier.endpage39
dc.identifier.wosWOS:000380471000006
dc.identifier.doi10.1109/ICAR.2015.7251430
dc.subject.keywordsPneumatic artificial muscle
dc.subject.keywordsModelling
dc.subject.keywordsExoskeleton
dc.identifier.scopusSCOPUS:2-s2.0-84957707473
dc.contributor.authorMale1
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff


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