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A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis

Author

Listed:
  • Maria J. Gerschutz
  • Chandler A. Phillips
  • David B. Reynolds
  • Daniel W. Repperger

Abstract

High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.

Suggested Citation

  • Maria J. Gerschutz & Chandler A. Phillips & David B. Reynolds & Daniel W. Repperger, 2009. "A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis," Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis Journals, vol. 12(2), pages 173-183.
    • Handle: RePEc:taf:gcmbxx:v:12:y:2009:i:2:p:173-183
    DOI: 10.1080/10255840802372052
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