Next Article in Journal
Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)
Previous Article in Journal
Experimental Investigations on Self-Bearing Motors with Combined Torque and Electrodynamic Bearing Windings
Article Menu

Export Article

Open AccessArticle

A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles

1
School of Computer and Biomedical Engineering, Università degli Studi Magna Græcia di Catanzaro, Campus Universitario di Germaneto, 88100 Catanzaro, Italy
2
Dipartimento di Ingegneria Elettrica e delle Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy
*
Author to whom correspondence should be addressed.
Actuators 2019, 8(2), 49; https://doi.org/10.3390/act8020049
Received: 30 May 2019 / Revised: 17 June 2019 / Accepted: 18 June 2019 / Published: 18 June 2019
  |  
PDF [741 KB, uploaded 26 June 2019]
  |  

Abstract

These days, biomimetic and compliant actuators have been made available to the main applications of rehabilitation and assistive robotics. In this context, the interaction control of soft robots, mechatronic surgical instruments and robotic prostheses can be improved through the adoption of pneumatic artificial muscles (PAMs), a class of compliant actuators that exhibit some similarities with the structure and function of biological muscles. Together with the advantage of implementing adaptive compliance control laws, the nonlinear and hysteretic force/length characteristics of PAMs pose some challenges in the design and implementation of tracking control strategies. This paper presents a parsimonious and accurate model of the asymmetric hysteresis observed in the force response of PAMs. The model has been validated through the experimental identification of the mechanical response of a small-sized PAM where the asymmetric effects of hysteresis are more evident. Both the experimental results and a comparison with other dynamic friction models show that the proposed model could be useful to implement efficient compensation strategies for the tracking control of soft robots. View Full-Text
Keywords: friction identification and compensation; asymmetric hysteresis; pneumatic artificial muscles; soft robotics friction identification and compensation; asymmetric hysteresis; pneumatic artificial muscles; soft robotics
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Capace, A.; Cosentino, C.; Amato, F.; Merola, A. A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles. Actuators 2019, 8, 49.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Actuators EISSN 2076-0825 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top