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

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-2English
Titel2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)
UitgeverijIEEE
Pagina's471-476
Aantal pagina's6
ISBN van geprinte versie978-1-4244-1676-9
StatusPublished - 21 sep 2008
EvenementUnknown - Stockholm, Sweden
Duur: 21 sep 200925 sep 2009

Publicatie series

Naam2008 IEEE International Conference on Robotics, Automation & Mechatronics (RAM 2008)

Conference

ConferenceUnknown
LandSweden
StadStockholm
Periode21/09/0925/09/09

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