Model-Based Pressure and Torque Control for Innovative Pneumatic Soft-Actuators
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چکیده
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 additional (compared to conventional fluidic actuators) nonlinearities, causing specific problems related to their modeling and control. The pressure and torque control concepts were investigated and tested by using a knee motion therapy device as test-bed. The torque control is used to compensate the weight of the device mechanics as well as the patient’s lower leg. Next step is the realization of "Assist-as-Need" behaviour for rehabilitation tasks. NOMENCLATURE p chamber pressure bar m mass flow rate Nl/min V chamber volume m R gas constant 287 J/kgK 7th International Fluid Power Conference Aachen 2010 1
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تاریخ انتشار 2010