Balasubramanian Sivakumar, Huang He, He Jiping
Harrington Dept. of Bioeng., Arizona State Univ., Tempe, AZ, USA.
Conf Proc IEEE Eng Med Biol Soc. 2006;2006:2734-7. doi: 10.1109/IEMBS.2006.259536.
Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed to quantify the dynamic behavior of pneumatic muscle actuator by fitting the experimental length response of the pneumatic muscle, to a step pressure input. In addition, comparison of the dynamic responses of two pneumatic muscles of different dimensions has also been studied. Several control strategies for the pneumatic muscle actuator are discussed based on the results from this study.
机器人辅助治疗在神经运动康复中已显示出潜力。我们的研究小组开发了一种由气动肌肉致动器驱动的治疗机器人。然而，精细和实时反馈机器人控制的设计是一项挑战。困难之一是缺乏气动肌肉致动器的通用动态模型。在本研究中，通过将气动肌肉的实验长度响应拟合到阶跃压力输入，开发了一种现象学模型来量化气动肌肉致动器的动态行为。此外，还研究了不同尺寸的两个气动肌肉的动态响应比较。基于本研究的结果，讨论了气动肌肉致动器的几种控制策略。
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