Modelling of pneumatic muscle actuator and antagonistic joint using linearised parameters
by Liming Sui; Shengquan Xie
International Journal of Biomechatronics and Biomedical Robotics (IJBBR), Vol. 2, No. 2/3/4, 2013

Abstract: This paper proposes a modelling approach using two general parameters of pneumatic muscle actuator based on a linearised method. After the analysis of the two linearised parameters, which are stiffness and pressure-force coefficient, a model of pneumatic muscle is developed based on assumptions of the linearised parameters. Joint stiffness and pressure-torque coefficient are proposed and applied to the analysis of an antagonistic joint actuated by pneumatic muscles. A joint model is obtained using the linearised parameters, and a position and stiffness control model of the joint is developed.

Online publication date: Fri, 18-Jul-2014

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