Title :
Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations
Author_Institution :
Dept. of Electr. & Comput. Eng., Louisville Univ., KY, USA
Abstract :
Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.
Keywords :
adaptive control; biomechanics; medical robotics; muscle; physiological models; pneumatic actuators; adaptive tracking techniques; bicep configuration; joint angle; nonadaptive PID control; nonlinear adaptive control; pneumatic muscle actuators; tricep configuration; Adaptive control; Exoskeletons; Force control; Humans; Muscles; Plastics; Pneumatic actuators; Robots; Rubber; Temperature; Biomimetics; Computer Simulation; Cybernetics; Elasticity; Feedback; Humans; Models, Biological; Movement; Muscle Contraction; Muscle, Skeletal; Nonlinear Dynamics; Prosthesis Design; Rheology; Robotics; Stress, Mechanical; Torque; Upper Extremity;
Journal_Title :
Neural Systems and Rehabilitation Engineering, IEEE Transactions on
DOI :
10.1109/TNSRE.2003.816870
