Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Michael Van Damme; Pieter Beyl; Bram Vanderborght; Ronald Van Ham; Innes Vanderniepen; Rino Versluys; Frank Daerden; Dirk Lefeber

Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Michael Van Damme, Pieter Beyl, Bram Vanderborght, Ronald Van Ham, Innes Vanderniepen, Rino Versluys, Frank Daerden, Dirk Lefeber

Toegepaste Mechanica

Onderzoeksoutput: Conference paper

44 Citaten (Scopus)

Samenvatting

Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since
hysteresis is almost always present. This paper investigates the hysteresis phenomenon in Pleated Pneumatic Artificial Muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.

Originele taal-2	English
Titel	2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)
Uitgeverij	IEEE
Pagina's	471-476
Aantal pagina's	6
ISBN van geprinte versie	978-1-4244-1676-9
Status	Published - 21 sep 2008
Evenement	Unknown - Stockholm, Sweden Duur: 21 sep 2009 → 25 sep 2009

Publicatie series

Naam	2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)

Conference

Conference	Unknown
Land	Sweden
Stad	Stockholm
Periode	21/09/09 → 25/09/09

1 Talk or presentation at a conference

2008 IEEE International Conference on Robotics, Automation & Mechatronics
Michael Van Damme (Speaker)
22 sep 2008 → 24 sep 2008
Activiteit: Talk or presentation at a conference

Citeer dit

Van Damme, M., Beyl, P., Vanderborght, B., Van Ham, R., Vanderniepen, I., Versluys, R., ... Lefeber, D. (2008). Modeling Hysteresis in Pleated Pneumatic Artificial Muscles. In 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008) (blz. 471-476). (2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)). IEEE.

Van Damme, Michael ; Beyl, Pieter ; Vanderborght, Bram ; Van Ham, Ronald ; Vanderniepen, Innes ; Versluys, Rino ; Daerden, Frank ; Lefeber, Dirk. / Modeling Hysteresis in Pleated Pneumatic Artificial Muscles. 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008). IEEE, 2008. blz. 471-476 (2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)).

@inproceedings{3c2ebd1fda93486c9ad0dc4a7e72c080,

title = "Modeling Hysteresis in Pleated Pneumatic Artificial Muscles",

abstract = "Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in Pleated Pneumatic Artificial Muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.",

keywords = "pneumatic muscle, hysteresis, preisach",

author = "{Van Damme}, Michael and Pieter Beyl and Bram Vanderborght and {Van Ham}, Ronald and Innes Vanderniepen and Rino Versluys and Frank Daerden and Dirk Lefeber",

year = "2008",

month = "9",

day = "21",

language = "English",

isbn = "978-1-4244-1676-9",

series = "2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)",

publisher = "IEEE",

pages = "471--476",

booktitle = "2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)",

}

Van Damme, M, Beyl, P, Vanderborght, B , Van Ham, R, Vanderniepen, I, Versluys, R, Daerden, F & Lefeber, D 2008, Modeling Hysteresis in Pleated Pneumatic Artificial Muscles. in 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008). 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008), IEEE, blz. 471-476, Unknown, Stockholm, Sweden, 21/09/09.

Modeling Hysteresis in Pleated Pneumatic Artificial Muscles. / Van Damme, Michael; Beyl, Pieter; Vanderborght, Bram ; Van Ham, Ronald; Vanderniepen, Innes; Versluys, Rino; Daerden, Frank ; Lefeber, Dirk.

2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008). IEEE, 2008. blz. 471-476 (2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)).

Onderzoeksoutput: Conference paper

TY - GEN

T1 - Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

AU - Van Damme, Michael

AU - Beyl, Pieter

AU - Vanderborght, Bram

AU - Van Ham, Ronald

AU - Vanderniepen, Innes

AU - Versluys, Rino

AU - Daerden, Frank

AU - Lefeber, Dirk

PY - 2008/9/21

Y1 - 2008/9/21

N2 - Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in Pleated Pneumatic Artificial Muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.

AB - Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in Pleated Pneumatic Artificial Muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.

KW - pneumatic muscle

KW - hysteresis

KW - preisach

M3 - Conference paper

SN - 978-1-4244-1676-9

T3 - 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)

SP - 471

EP - 476

BT - 2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)

PB - IEEE

ER -

Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Samenvatting

Publicatie series

Conference

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Activiteiten

2008 IEEE International Conference on Robotics, Automation & Mechatronics

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