Posts

Featured Post

Controlling of Pneumatic Muscle Actuator Systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP)

-
 This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human–robot shared control system. The results show the efficiency of the proposed controller structure. Keywords: controller system, PMA, neural network, P controller, human-robot shared controller. The full version is available at: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805742/ ...
Post a Comment
Read more

Design of Two Segments Continuum Robot Arm Based on Pneumatic Muscle Actuator (PMA)

-
 This paper presents a new continuum robot arm based on the pneumatic muscle actuator (PMA). The simple design of the extensor and the contractor PMAs are used to implement the extension and the contraction sections respectively. Five actuators are used in each section to achieve an elongation and bending for the top section and a contraction and bending for the bottom section. Then, four self-bending contraction actuators (SBCA) are used instead of the five contractions PMA to enhance the bending performances. The performances of the proposed soft robot arm showed the advantages of using a biological inspiration robot arm for the unique features in comparison to its weight and cost.  Keywords-pneumatic muscle actuator (PMA); continuum robot arm; self-bending contraction actuator (SBCA); biological inspiration; tracking system. The full version is available at: https://ieeexplore.ieee.org/document/8749087
Post a Comment
Read more

Cooperative Project by Self-Bending Continuum Arms

-
 Designing a multi-robot system provides numerous advantages for many applications such as low cost, multi-tasking and more efficient group work. However, the rigidity of the robots used in industrial and medical applications increases the probability of injury. Therefore, lots of research is done to increase the safety factor for robot-human interaction. As a result, either separation between the human and robot is suggested, or the force shutdown to the robot system is applied. These solutions might be useful for industrial applications, but it is not for medical applications as a direct interaction between the human and the machine is required. To overcome the rigidity problem, a soft robot arm is presented in this paper. Studying the structure and performance of a contraction pneumatic muscle actuator (PMA) is illustrated, then useful strategies are used to implement a multi PMA continuum arm to increase the performance options for such types of the actuator. Moreover, twin arm...
Post a Comment
Read more

The Design and Implementation of a Single-Actuator Soft Robot Arm for Lower Back Pain Reduction

-
 This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain. KEYWORDS: Pneumatic artificial muscle (PAM), Bending actuator, Lower back pain, Continuum arm, Human-robot interaction. The full version is available at: https://faculty.uobasrah.edu.iq/uploads/publications/1596615300.pdf
Post a Comment
Read more

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

-
 To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled. Keywords: contraction actu...
Post a Comment
Read more

3D POSITION MAPPING OF CONTINUUM ARM

-
 Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, mathematical models are presented and validated. Keywords— Contraction and Extension PMA, Continuum Arm, Experimental Model, 3D Position, Mapping. The full paper can be found at: https://ieeexplore.ieee.org/abstract/document/7810151
Post a Comment
Read more

The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator

-
 This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force to- weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure of up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the p...
Post a Comment
Read more