Research on PMA properties and humanoid lower limb application

Author

Fei-Long Jiang ; Guo-Liang Tao ; Hao Liu

Author_Institution

State Key Lab. of Fluid Power Transm. & Cont rol, Zhejiang Univ., Hangzhou, China

fYear

2015

fDate

7-11 July 2015

Firstpage

1292

Lastpage

1297

Abstract

DMSP-10mm-80mm-RM-CM Pneumatic Muscle Actuator (PMA) which is manufactured by FESTO is tested in the test bed with air cylinder and sensors. Isobaric, isotonic and isometric contraction characteristics of the PMA is got to know through experiment. Mechanical structure of humanoid lower limb is designed with the PMA, which combined with cable to replace corresponding human muscles. kinematic and dynamic characteristic of knee joint which is driven by monarticular muscles is analyzed with Jacobian matrix and Newton-Euler method respectively.

Keywords

Jacobian matrices; humanoid robots; pneumatic actuators; robot dynamics; robot kinematics; sensors; DMSP; FESTO; Isobaric contraction characteristics; Jacobian matrix; Newton-Euler method; PMA properties; RM-CM; air cylinder; dynamic characteristics; human muscles; humanoid lower limb application; isometric contraction characteristics; isotonic contraction characteristics; kinematic characteristics; knee joint; mechanical structure; monarticular muscles; pneumatic muscle actuator; sensors; test bed; Force; Hip; Isobaric; Joints; Knee; Muscles; Transducers; PMA characteristic; humanoid lower limb; kinematic and dynamic;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on

Conference_Location

Busan

Type

conf

DOI

10.1109/AIM.2015.7222717

Filename

7222717