Passive and active acoustic sensing for soft pneumatic actuators

Soft Pneumatic Actuators for Rehabilitation

Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, th...

Active and Passive Range Sensing for Robotics

Pneumatic Actuators for Serpentine Robot

This paper presents analytical and experimental results of an investigation of joint actuators and their suitability for a particular class of complex mechanisms: serpentine robots. In practice, serpentine robots usually comprise of multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. We compare...

Model-Based Pressure and Torque Control for Innovative Pneumatic Soft-Actuators

This paper describes a model-based pressure and torque control concept for innovative pneumatically driven actuators with rotary elastic chambers. These soft-actuators have been developed to operate in human environment, especially for physical interaction with people in service and rehabilitation tasks. Owing to the inherent compliancy of the working chambers, these actuators possess additiona...

Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators

The influence of the geometric parameters of two-link manipulator on the energy expenditure necessary for the implementation of a given movement is investigated. It is proposed approximation-compensatory approach to replace the active actuators in the joints of the manipulator on semi-passive and entirely passive actuators. Advantages and disadvantages of such replacement are analyzed and the f...