Adaptive Bio-Control of Artificial Pneumatic Muscle Elbow: Nonlinear Model

9707334 Fashoro本研究的重点是气动执行器的建模，该执行器具有比标准电动或液压执行器更类似于人体肌肉的特性。这涉及到开发的非线性自适应关节运动控制策略的人工肘关节驱动的人工肌肉致动器安排在拮抗对。 本研究的主要工作有两个：（1）建立肘关节的单连杆物理模型，推导肘关节精细运动的动力学方程;（2）将非线性动静态人工肌肉模型引入到人工肘关节精细运动的动力学方程中。该装置可用于假肢、矫形器、机器人手臂和外科手术手。 ***

9707334 Fashoro This research focuses on the modeling of a pneumatic actuator that has characteristics more similar to human muscle than standard electric or hydraulic actuators. This involves the development of non-linear adaptive joint motion control strategies for an artificial elbow joint driven with artificial muscle actuators arranged in antagonistic pairs. There are two major tasks proposed for this research: (1) the building of a one-link physical model and the derivation of the dynamic equations for the fine motion of the elbow joint, and (2) the incorporation of a non-linear dynamic/static artificial muscle model into the dynamic equations of the fine motion of the artificial elbow. This device could have use in prostheses, orthotes, robot arms and surgical hands. ***