Applications of UKF and EnKF to estimation of contraction ratio of McKibben pneumatic artificial muscles
Applications of UKF and EnKF to estimation of contraction ratio of McKibben pneumatic artificial muscles
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UKF和EnKF在McKibben气动人工肌肉收缩率估计中的应用
DOI：
10.23919/acc.2017.7963765
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
K. Kogiso
中科院分区：
文献类型：
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作者：
Takashi Kodama;K. Kogiso
应用无迹卡尔曼滤波（UKF）和集合卡尔曼滤波（EnKF）对麦吉本气动人工肌肉（PAM）的收缩率进行了估计，结果表明UKF比EnKF更能有效地估计PAM的长度。将两种过滤器应用于商业PAM FESTO DMSP-20- 200 N，以验证它们。在三种类型的正弦控制信号下离线进行估计，这三种类型的正弦控制信号是输入到比例方向控制阀的电压。在这些情况下，内部压力分别在0.2和0.7 [MPa]之间的低、高和整个范围内移动。使用传感器装置测量长度的替代技术对于充分利用PAM的优点是重要的。
This study applies the unscented Kalman filter (UKF) and the ensemble Kalman filter (EnKF) to estimate a contraction ratio of the McKibben pneumatic artificial muscle (PAM) and to present that the UKF is more effective than the EnKF in estimating the PAM length. Both filters were applied for a commercial PAM, FESTO DMSP-20-200N, to validate them. The estimation was conducted offline under three types of sinusoidal control signals, which are a voltage inputted to a proportional directional control valve. The inner pressure in those cases travels in low, high, and whole ranges between 0.2 and 0.7 [MPa] respectively. An alternative technique of measuring the length using a sensor device is important in making full use of the PAM's merit.
使用助力装置精确控制肌肉力量：系统配置和实验
DOI：
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发表时间：
2008
期刊：
Proceedings of the second IEEE/RAS-EMBS international Conference on Biomedical Robotics and Biomechatronics
影响因子：
--
作者：
中村賢治;垰田和史;北原照代;辻村裕次;西山勝夫;Ming Ding
通讯作者：
Ming Ding