Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations

Author

Lilly, John H.

Author_Institution

Dept. of Electr. & Comput. Eng., Louisville Univ., KY, USA

Volume

11

Issue

3

fYear

2003

Firstpage

333

Lastpage

339

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;

fLanguage

English

Journal_Title

Neural Systems and Rehabilitation Engineering, IEEE Transactions on

Publisher

ieee

ISSN

1534-4320

Type

jour

DOI

10.1109/TNSRE.2003.816870

Filename

1231244