Bogdan, PA, Smith, O, Klein, FB and Gianni, M 
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 Item (Unspecified) |
|---|---|
| Uncontrolled Keywords: | 40 Engineering, 4010 Engineering Practice and Education |
| Divisions: | Faculty of Science & Engineering > School of Electrical Engineering, Electronics and Computer Science |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 10 Oct 2023 08:53 |
| Last Modified: | 23 May 2026 07:56 |
| DOI: | 10.1109/ROBIO58561.2023.10354686 |
| Related Websites: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3173575 |
| Disclaimer: | The University of Liverpool is not responsible for content contained on other websites from links within repository metadata. Please contact us if you notice anything that appears incorrect or inappropriate. |
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