Modeling and Control of Artificial Muscles Actuated Systems with Applications to Biomedical Systems

人工肌肉驱动系统的建模和控制及其在生物医学系统中的应用

• 批准号: 217196-2013
• 负责人: Su, ChunYi
• 金额: $ 1.89万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=523720
• 关键词: Modeling; Control; Artificial; Muscles; Actuated

Over the last decade, electroactive polymers, a novel family of smart materials, have received tremendous interests for their potential applications in sensing, actuation, and energy harvesting. Therein, ionic polymer-metal composites (IPMCs) form an important category of electroactive polymers and have built-in actuation and sensing capabilities. Owing to the IPMCs' softness, resilience, biocompatibility and the capability of producing large deformation under a low action voltage, IPMCs are highly attractive as a material for actuators or sensors in biomedical applications and for developing artificial muscles or biomimetic robots. However, the IPMC actuated systems reflect highly nonlinear characteristics observed in both electrical and mechanical responses including creep, hysteresis, structural nonlinearity, and time-varying behaviors, and so on, which severely limits system performance. Without the aid of feedback control techniques to overcome the these effects, it is only possible to achieve limited positioning accuracy.

在过去的十年中，电活性聚合物作为一种新型的智能材料，因其在传感、驱动和能量收集方面的潜在应用而受到了极大的关注。其中，离子聚合物-金属复合材料（IPMCs）形成了电活性聚合物的重要类别，并具有内置的驱动和传感能力。由于ipmc的柔软性、弹性、生物相容性和在低作用电压下产生大变形的能力，ipmc作为生物医学应用中的致动器或传感器材料以及开发人造肌肉或仿生机器人具有很高的吸引力。然而，IPMC驱动系统在电气和机械响应中都表现出高度非线性特征，包括蠕变、滞后、结构非线性和时变行为等，这严重限制了系统的性能。如果没有反馈控制技术的帮助来克服这些影响，只能实现有限的定位精度。