A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis

Abstract

High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.

Keywords:

• pneumatic muscle actuator
• control system
• feed-back control
• augmented orthosis
• phenomenological model
• time constant

Notes

^1. [email protected]

^2. [email protected]

^3. [email protected]

Additional information

Notes on contributors

Chandler A. Phillips

1. 1. [email protected]

David B. Reynolds

2. 2. [email protected]

Daniel W. Repperger

3. 3. [email protected]