A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis |
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| Authors: | Maria J. Gerschutz Chandler A. Phillips David B. Reynolds Daniel W. Repperger |
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| Affiliation: | 1. Department of Biomedical, Industrial and Human Factors Engineering , Wright State University , Dayton, OH, USA gerschutz.4@wright.edu;3. Department of Biomedical, Industrial and Human Factors Engineering , Wright State University , Dayton, OH, USA;4. Air Force Research Laboratory , Wright Patterson Air Force Base , Dayton, OH, USA |
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| Abstract: | High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range. |
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| Keywords: | pneumatic muscle actuator control system feed-back control augmented orthosis phenomenological model time constant |
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