Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
Article
Prior, S. and White, A.S. 1995. Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot. Simulation Practice and Theory. 3 (2), pp. 81-117. https://doi.org/10.1016/0928-4869(95)00010-Q
Type | Article |
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Title | Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot |
Authors | Prior, S. and White, A.S. |
Abstract | The performance of a pneumatic muscle actuator, invented by Jim Hennequin and used in a prototype wheelchair-mounted robot arm designed by the first author is reported. Experimental measurements were made of the output torque versus rotary motion and internal pressure. The torque available for a muscle of size 60 mm width by 90 mm length ranges from 1 to 15 Nm. The rotary stiffness of this muscle is 0.081 Nm/deg. A theory based on thermodynamic principles indicates that the efficiency of the pneumatic muscle actuator reaches a maximum of 67%. A simulation model of the dynamic behaviour of the muscle attached to the robot arm using one-dimensional flow theory was written in ACSL (Advanced Continuous Simulation Language). The resultant simulation gives good agreement to within ± 5% of the experimental values. |
Keywords | Actuator; pneumatic; rehabilitation; robotics; simulation |
Publisher | Elsevier |
Journal | Simulation Practice and Theory |
ISSN | 0928-4869 |
Publication dates | |
Sep 1995 | |
Publication process dates | |
Deposited | 10 Jan 2012 |
Output status | Published |
Copyright Statement | Copyright © 1995 Published by Elsevier B.V. |
Digital Object Identifier (DOI) | https://doi.org/10.1016/0928-4869(95)00010-Q |
Language | English |
https://repository.mdx.ac.uk/item/837q1
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