Bogdan, Piotr A, Smith, Oliver, Klein, Frederico B and Gianni, Mario 
ORCID: 0000-0001-5410-2377
(2023)
Twitching Control for Pneumatic Artificial Muscle Actuators.
In: 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2023-12-4 - 2023-12-9, Koh Samui, Thailand.
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Abstract
In this work we present the design and development of a twitching control system for pneumatic artificial muscle (PAM) actuators. In this system, a shape memory alloy (SMA) poppet valve is used to control the flow of air pressurizing the inner bladder of a McKibben-based PAM. The valve is driven by pulse width modulation with changing frequency, allowing the PAM to resemble the mammalian muscles twitching. An adjustable passive exhaust orifice is used in place of an exhaust air valve to release the air pressure from the bladder mimicking natural muscle relaxation behaviour. Experiments under isometric and isotonic contractions show that the proposed control system reduces hysteresis of about 72% compared to continuous activation against 15% loss in contraction force with respect to conventional exhaust air valves.
| Item Type: | Conference or Workshop Item (Unspecified) |
|---|---|
| Uncontrolled Keywords: | Soft robotics and liquid-metal robotics; Applications of robotics and biomimetics; New theory and technology in robotics and biomimetics |
| Divisions: | Faculty of Science and Engineering > School of Electrical Engineering, Electronics and Computer Science |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 10 Oct 2023 08:53 |
| Last Modified: | 17 Mar 2024 18:36 |
| DOI: | 10.1109/robio58561.2023.10354686 |
| Related URLs: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3173575 |
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