Bioinspired passive variable recruitment of fluidic artificial muscles
Bioinspired passive variable recruitment of fluidic artificial muscles
复制标题
流体人工肌肉的仿生被动可变招募
DOI：
10.1177/1045389x18783070
复制
发表时间：
2018
影响因子：
2.7
通讯作者：
M. Bryant
中科院分区：
文献类型：
--
作者：
E. M. Chapman;M. Bryant
本文提出了一种新的，被动的方法来创建可变致动器招聘束流体人工肌肉。被动募集控制方法受到哺乳动物肌肉组织功能的启发，其中来自神经系统的单个激活信号顺序地触发逐渐变大的致动元件的收缩，直到产生所需的力。在生物学上，这种行为是由较小和较大的肌肉纤维群之间的电阻特性差异编码的。这里提出的方法使用对所有流体人造肌肉施加的均匀压力产生类似的行为，同时经由定制的囊弹性参数在流体人造肌肉之间产生压差响应和阈值压力。一个模型，用于使用弹性囊刚度控制人工肌肉束与一个单一的阀门进行了探讨，并用于比较一束流体人工肌肉与低和高阈值压力单位的一个单一的流体人工肌肉等效的位移和力的能力。该分析的结果表明，使用这种控制方法的有效性，它是有利的情况下，广泛的位移和力是必要的，可以提高效率时，系统主要在低力制度，但需要偶尔爆发的高力的能力。
This article presents a novel, passive approach to creating variable actuator recruitment in bundles of fluidic artificial muscles. The passive recruitment control approach is inspired by the functionality of mammalian muscle tissues, in which a single activation signal from the nervous system sequentially triggers contraction of progressively larger actuation elements until the required force is generated. Biologically, this behavior is encoded by differences in electrical resistance properties between smaller and larger muscle-fiber groups. The approach presented here produces analogous behavior using a uniform applied pressure to all fluidic artificial muscles while creating differential pressure responses and threshold pressures among the fluidic artificial muscles via tailored bladder elasticity parameters. A model for using elastic bladder stiffness to control an artificial muscle bundle with a single valve is explored and used to compare a bundle of fluidic artificial muscles with both low and high threshold pressure units to a single fluidic artificial muscle of equivalent displacement and force capability. The results of this analysis indicate the efficacy of using this control method; it is advantageous in cases where a wide range of displacements and forces are necessary and can increase efficiency when the system primarily operates in a low-force regime but requires occasional bursts of high-force capability.
影响因子：
--
作者：
F. Zajac
通讯作者：
F. Zajac